This paper firstly summarizes the research on the singularity in the past.One is the study of how to avoid it,the other is the study of how to pass the singular point.On the basis of previous studies,a new method is proposed to avoid the singular location based on the space region limited.The main point is to pre-plan the motion trajectory of the robot,and then give a method about how to differentiate the singular position and the adjacent singular position to ensure that a reasonable interpolation point can be planned during the Cartesian space planning.Meanwhile,based on the higher order polynomial theory,joint space planning is optimized to ensure the continuity and stability of joint and terminal motion.Taking 6 axis manipulator in wrist joint singular as an example,we use the proposed algorithm to analyze the process of the singular position.Given the parameters such as the initial point and the target point,the data obtained is simulated graphically in MATLAB,and the correctness and feasibility of the algorithm are verified.