The communication bridge between the mechanism and computer is Arduino board. We use the MATLAB software as our simulation and computation platform. After entering the position and orientation of the end effector in the GUI text, the IK solver calculates the inverse kinematics simultaneously. Every joint’s degree can be computed and sent to the servo motor. The first type of our robotic arm is used by open loop Cartesian space control, meaning that there is no force sensor or encoder feedback. In the revised program, one can not only control the position and orientation of the end effector but also control every joint independently, making the software more useful and convenient to users. In the revised program, one can not only control the position and orientation of the end effector but also control every joint independently.