  Singularity in robot controls is an important problem. By identifying an
appropriate trajectory for the robots, the singular situations can be avoided.
In this paper an identification algorithm is proposed to control the robot such
that it can change its direction to avoid the singularity situation. Base on
the singular value decomposition, the proposed algorithm is developed for the
non-redundant, single-rank robots. The proposed method is employed on a robot
with six degrees of freedom, in order to identify its feasible trajectory.
  Keywords: Singularity; Trajectory identification; Robot control;
Identification algorithm; Singular value decomposition.
