In this research a computational tool have been developed for the simulation of a 6 degree of freedom manipulator, which is connected with a real robot arm. The Software was developed in Visual Basic to obtain graphic versatility and the calculus modules were developed in Fortran 77 to ensure faster and more efficient mathematical operations. The figure of the manipulator on the screen is composed by simple geometrical elements, using the Denavit-Hartenberg notation. The simulator includes the following calculation modules: 1) direct and inverse kinematics, programmed with known techniques , 2) generation of hyperbolic trajectories that permits the evasion of obstacles and the control of velocity, acceleration and jerk at the points of interest. The animation of the robot includes: 1) different types of visualization with spatial perspectives on the screen, 2) navigation and zoom effects, 3) Automatic and manual control of the movements, 4) report of cartesian coordinates of any point of the robot arm, 5) path of the trajectory of the end effector, 6) execution of a specific routine of movement any number of times. The software will be apply for "pick and place" operations, which are very much used in the manufacturing industry.
