Journal of Intelligent Computing Kamel Bouzgou, Zoubir Ahmed - foitih 5 3 2014 http://www.dline.info/jic/fulltext/v5n3/2.pdf In this paper, we demonstrate the analytical method for the solving of the inverse kinematics of 6 DOF manipulator arm, the FANUC 200IC, those solutions can be chosen after analysis of the Jacobian matrix, simplification and decomposition of this matrix leads us to solve a nonlinear equation with two variable, that we will limit the number of solution found, and that will give us the real workspace of robot accessible by the end-effector. 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.