The paper presents a method that permits the establishment and the visualization of the multiple configurations of the Mitsubishi RV-1A robot system. The positional analysis is realized with the rotation matrices methodology. The expressions of the generalized coordinates of the mechanism of the Mitsubishi RV-1A robot for obtaining an imposed position and orientation between its tool frame and the base frame are derived. A computer program that permits the calculus of the generalized coordinates of all possible configurations of the Mitsubishi RV-1A robot mechanism has been developed. Some interesting simulation results are presented. Finally, these configurations are visualized using Ciros Studio program.