A control methodology for catching an object with a robot manipulator, where a desired information specifies a position and speed. This paper deals with a five-axis robot. This robot contains six hybrid stepper motors; each of them is speed controlled by using the hysteresis controller technique. A microprocessor is employed to generate pulses with a desired frequency to drive six-which supply square voltages to motors via a driver circuit. The most advantages of this technique are fast, accurate, robustness and high performance. Under the influence of the controller technique, the dynamic performance of the four-phases stepper motor in one arm of the robot has been studied. The mathematical model of this motor is presented. Also, the simulation program is written in the C-language and executed in a computer. An experimental set-up is performed by designing and writing an assembly program to achieve the proposed control method. The experimental results validate the simulation results.