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In this paper modeling and control of 5 degree of freedom robotic arm is the presented. It consists of forward and inverse kinematics is derived based on Denavit-Hartenberg (DH) representation. Main of this paper is to design the robotic arm by using D-H representation. The kinematics issue is identified as the advance from the Cartesian position to the mixed position and the other way around. This papers is developed to design the forward and inverse kinematics of a 5 DOF robotic Arm fordoi:10.17577/ijertv4is090752 fatcat:ctmi3sb3sfaqbmfhv7kejnhpa4