Abstract: The paper deals with the modeling and control of a KUKA KR6 robotic arm using Denavit-Hartenberg kinematics and Euler-Lagrange dynamics. Control strategies include PID and Model Predictive Control (MPC) that have been implemented for trajectory tracking and disturbance rejection. The simulation results present that MPC is more accurate and energy-efficient than PID, although it requires greater computational effort and thus may provide insight into some trade-offs of control strategies for robotics applications.