The study aimed to create a precise system model for the Mitsubishi MELFA RV-2AJ 5 DoF industrial robotic arm using CAD and MATLAB. Key state variables such as position and velocity were identified to develop an accurate model capable of controlling the robot's movements. A replica of the robot was created, exported to MATLAB Simulink, and a GUI controller was developed to provide precise control over the robot's joint angles. The robot's behaviour was displayed in Mechanics Explorer Simulink, nd a real-time simulation was developed to validate the accuracy of the model. Despite some discrepancies related to the incremental controller during real-life testing, the model's accuracy was still deemed significant and serves as a crucial stepping stone in the development of advanced robotics systems.