Paper Title
Modeling and Simulation of Robots Bay using Matlab Toolbox and Catia V5

Abstract
In this paper we presented the importance of verify whether or note the solution of inverse kinematic existe physicly bay using Solidworks and KatiaV5 softwares to do so we proposed the case of 2R ideal palnar manipulator. Each solution obtained by the inverse kinematics analysis should be tested in order to determine whether or not they bring the end-effector to the desired position.The validity of the solution of inverse kinematics is verified by using Matlab and Katia V5 softward. The direct kinematic problem is addressed using the Denavit-Hartenberg (DH) convention. Furthermore, an algebraic solution of the inverse kinematics problem is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical. Index Terms - Inverse kinematic, modeling, simulation, Manipulator planar.