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This work develops a new educational simulation tool whose objective is to make attractive and practical teaching and learning in kinematics of serial robotic arms. At engineering laboratories in which practices with robotic arms are necessary for understanding fundamental concepts of theory, students need to accomplish a complete study attending to different aspects related with kinematics. Its graphic user interface (GUI) is a straight‐forward and easy‐to‐follow Denavit–Hartenberg (DH)‐based method which helps at engineering practices without requiring a programming knowledge. We develop, in a theoretical way, both forward (FK) and inverse kinematics (IK), which are necessary to demonstrate the study of an educational robotic arm as a practical case. The interactive simulation tool allows defining DH parameters and geometry in serial arms with up to 5 degrees of freedom (DOF). Thus, the interest of this …