This work presents a novel simulation methodology applied to a human arm. It is aimed to allow the robotic system to perform complex movement operations of human arm. The human arm is represented by using virtual reality (VR). The work includes mathematical modeling of the direct kinematics ,inverse kinematic and the dynamics of the human arm .The model permits direct forward dynamics simulation, which accurately predicts hand position, also presents a solution to the inverse problem of determining set of joints angle to achieve a given position or motion. The method is implemented in the 3D space and uses the Simulink/ MATLAB Ver.2009a approach. This methodology can be used with different robots to test the behavior and control laws.