Abstract: Many methods to avoid singularities have been developed, but there are many defects while working with them.A new method of the motion-coordinational control is given out in this paper. It makesfull use of the character of uncertainty configuration,and can avoid to exceed the speed limit and motion errorof end-effector. I think that the method of motion-coordinational control is a good method for avoiding singularities of arbitrary six degree-of-freedom manipulators.