“…D. Gottlieb [19] proved their observation while D. Baker [20] used topological argument to confirm them. Inter alia method, analytical approach by dividing the Jacobian matrix in four distinct square matrix [21],identification method by developing equation on the sphere [22], algebraic based on screw theory and it reciprocal [23,25,30],forward and inverse kinematic equation approach [24,31,32,34,35], singularity isolation or removing the degenerate part method [26,36], geometric classification method [27][28][29], quaternion based on geometry algebra [38,39],constraint and actuated force method [33]etc … Although, singular configuration of serial robot could be detected by software simulation [37], the large expressions of det( ) t J is still a challenge for researchers. In this scope J.…”