See the video Here

It's a very simple script using matlab and Vrep APIs the project works on UR10 and could be modified to work with UR3 or UR5, it need a lot of enhancements to be better but i thought it would be helpful to put it here so feel free to use it.

if you don't know much about the Vrep or Peter Corke, i think 
the below links could help you to know more about them

• Peter Corke robotics toolbox And some good video tutorials about it :

  1. Download the robotics toolbox:

     You can find it inside this repo Here Or you can download it from Peter Corke Website.

     I just used the toolbox to get the inverse kinematics of the robotic arm using the DH Parameter.
     

  2. See the Peter Corke robotics toolbox Manual to understand the detailed implementation of the Peter corke functions, download it from Peter Corke Website.

  3. Forward and inverse kinematics using MATLAB Video [ Sorry for the bad resolution :')) ].

  4. DH Parameter using Peter corke toolbox Video [ it has an English Subtitle ].

• Some useful tutorials in how to use Vrep:

  1. V-Rep Introduction and Bump Sensor Implementation Video

      In the video, you will find out How to connect between Matlab & Vrep
     

  2. Matlab with VREP connection another Video [ But unfortunately, it's in In the Arabic language ]

  3. Matlab Robot Simulation with V-REP - Part 1 Video

     In the video, you will understand how to remotely control your robot in the verp from a Matlab Script
     

  4. Remote API Functions ( For Matlab ).

     In the Remote API functions (Matlab) website you will find out how to use the Verp API functions for Matlab