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This paper develops and analyzes 6-DOF robotic arm kinetic models. The planned model permits skylights to be controlled to achieve any position and direction accessible in an uncontrolled environment. The forward kinematic model is based on the constant quantity Denavit-Hartenberg (DH) parameters of the position of the robotic arm. Given the needed position and alignment of the robot effector, the dead backward movement pattern provides the corresponding required articulation angle. The forward kinematic model has been validated using Robotics Toolbox for MATLAB Ver. 2020 while the inverse kinematic model has been implemented on a real robotic arm, the last respondent of the robotic arm reaches the desired coordinates with an accuracy of±1 mm.