Abstract: The singularity problem is inherent in controlling articulated robot manipulators. In this paper, we determine the required joint motion of the end effectors by evaluating their accuracy and feasibility. The robust inversion of singularity of the Jacobian matrix provides a motion approaching to the desired cartesian trajectory at or in the neighborhood of singular points for the end effector, even when the inverse kinematic solution represented by Jacobian matric inversion or pscudo inversion is infeasible.