general questions about 6dof system

Hi
I m playing with rokinsim witch is the previous version of robotdk but is only educational porpouse.
There is also a robot workbench in freecad with a few robots but does not suit my porpouse.
There is reverse kinematic solver that could handle solutions of the jacobian matrix and its singularity in a post that I opened on a forum long time ago but i never had time to work on it trying to implement on a new workbench.
I would like to put more time and effort into this project but I can just do so much.

Let's try to build the machine first and than will see how to make it move.
Thanks for the additional information.

Regards,
V.