Geometric modeling and singularity of 6 DOF Fanuc 200IC robot

In this paper, we propose a solution to the problems and the features encountered in the geometric modeling of the 6 DOF manipulator arm, the Fanuc. Among these, the singularity of the Jacobian matrix obtained by the kinematic model and which has a great influence on the boundaries and accessibility of the workspace of manipulator robot and it reduce the number of solutions found. We can decompose it into several sub-matrices of smaller dimensions, for ultimately a non-linear equation with two unknowns. We validate our work by conducting a simulation software platform that allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD model.