Abstarct: In this thesis, a novel approach is presented for robot control. In the proposed approach, the control of robot is transformed from task space to joint space in the vacancy of singular points. The robot singularities are considered in the robot control approaches called the inverse Jacobian, the pseudo inverse Jacobian and transposed Jacobian for passing the singular points. The robot control can be classified into joint space control and task space control. The advantage of control in the task space is sensing the end effector position which improves the performance. However, this kind of control is involved with the singular points. In contrast, control in the joint space, does not have the singularity problem and it is easy to implement. However, due to lack of sensing from the end effector position, the performance of control system may be degraded. It is required to plan a desired trajectory in the task space and joint space for controlling the position of the end effector. Considering the singularity is also important. Since, the control of robot is involved problems in the singular points. The control system may lose some degrees of freedom in the singular points. In this case, the control on the robot may be degraded in the task space and consequently the voltages of motors are increased. The motors and then the robot structure may be damaged. Therefore, the singular points are avoided to control robot in the task space. It is noted that the robot control in the joint space is not involve the singularity problem.