This document describes the development of a virtual software package to model and test the kinematics of a 5 degree of freedom robot lever arm using MATLAB. It discusses using the Denavit-Hartenberg convention to define the coordinate frames and homogeneous transformation matrices between frames to calculate the forward and inverse kinematics. The modeling process in MATLAB is described, including defining the link diagram and using composite homogeneous transformations to determine the position and orientation of the end effector given the joint angles or to calculate the required joint angles to reach a desired end effector pose.