A robotic approach based on Denavit–Hartenberg parametrization is proposed for simulating and interpreting Codman's paradox. A 3-degree-of-freedom robot model of the glenohumeral joint, driving the arm reduced to its long humerus, is considered for simulating the two-step rotational sequence of Codman's paradox. We propose to use the classical distinction made in robotics between the joint space, i.e. the inner space of joint angles, and the operational space, i.e. the outer physical space, for interpreting this historical version of the paradox, as there is some kind of confusion between these two spaces to be considered for arm movement definition. In its extended form, developed by MacConnail, the three-step rotational sequence of Codman's paradox would highlight the motor redundancy of the shoulder joint, necessitating for its simulation, according to our robotic approach, a 4-axis model of the shoulder spheroid joint. Our model provides a general prediction of the conjunct rotation angle in full accordance with clinical observation for a two-step or three-step version of Codman's paradox. The relation of the paradox with a possible general law of motion is finally discussed.