IN THIS PAPER, A NEW ALGORITHM IS DEVELOPED TO OVERCOME SINGULARITY BY MAKING THE CONSTRAINT FUNCTION AN ADAPTIVE NATURE. THE KINEMATIC CONTROL ALGORITHM POSSESSES THE INTELLIGENCE TO RECOGNIZE IF A CURRENTLY USED CONSTRAINT FUNCTION IS APPROACHING ONE OF ITS ASSOCIATED SINGULARITIES. IF SO, THE ALGORITHM THEN SMOOTHLY CHANGES THE CONSTRAINT FUNCTION INTO ONE WHICH AVOIDS THIS SINGULARITY.
