Robots play an important role in various fields of present industry and their importance is not denied. Steel industry, however, is one the major fields which robots are applied to. Various pick and place robots to move heavy coils, sampling robots and markers are some remarkable examples. The main purpose of the present study is to design and simulate a marker robot. This robot is designed to be able to write digits and alphabets on sheet metal coils by mean of a paint spray. While the marker robot for steel slabs is a Cartesian robot, the marker robot for sheet coils is a 5 DoF rotational robot which 3 DoF are assumed for rotational movements of robots main body and 2 DoF are assumed for wrist. In the present study, instead of Algebraic solution, geometrical solution is used to solve inverse kinematics. To define robots End Effector path for various digits and alphabets, time based equations are used. MATLAB and LabView software are used for robots End Effector path programming, while various simulator software, such as CATIA, Visul Nastran, SimuLink and ADAMS are used to simulate the paths. Dynamics equations are solved, using Newton-Euler method and a PID control was applied for robot control. In design process, various factors, such as cost, manufacturing feasibility and improved functioning are considered. Key Words Robotic, Inverse Kinematic, Dynamic of Robot, Control of Robot, MATLAB, Marker Robot, Marking Hot Sla bs and Coils, visual Nastran, LabVIEW.