The thesis presents an analysis of singularity, decoupling techniques, and kinematics modeling for the FANUC LR Mate 200iD industrial robot. This articulated 6-DOF manipulator such as FANUC LR Mate 200iD is utilized in applications such as Machine tending, Inspection & Quality Control and assembling. However, it is inherently prone to singularity due to articulated structure and mathematics used to control. This leads to deteriorating the control and motion instability due to loss of rank in Jacobian matrix. Detecting these kinematic obstacles is essential for achieving operational stability, safety and efficiency. The research conducted is supported by visualization and simulation in CoppeliaSim using the Lua programming language. The FANUC LR Mate requires robust control strategies, including both forward kinematics (FK) and inverse kinematics (IK). The paper exhibits the role of Denavit-Hartenberg (DH) parameters and the decoupling method, which separates the position and orientation problems in inverse kinematics (IK) computation to analyze the complex arm .Furthermore, the study details the use of Jacobian matrix for validating the model, as well as examining and analyzing singularities that affect motion predictability and constraints. Moreover, the study delves into simulation using CoppeliaSim with Lua script integration to validate the Matlab’s kinematic model in the virtual world before real- world implementation. These simulations provide an effective means to visualize the robot’s workspace, trajectories and singular positions (such as elbow and arm singularities). The study managed to demonstrate the accuracy of singularity detection using condition number and Jacobian determinant in MATLAB, validating decoupling thorough Coppeliasim. Conclusively, this research demonstrates that the decoupling method is favored and direct technique for solving real-world control systems. It prevents errors and ambiguity, thereby helping us in understanding and monitoring of singularities in industrial systems for future incorporation with path optimization, vision control systems, and ROS.