Considering the singularity of robot, singularity avoidance control of robot is very important. Because it is very difficult structurally to exclude the wrist singularity. Then new control policy is needed to overcome wrist singularity. In this paper, the singularity states of robot wrist was analyzed and control algorithms for 3 and 4 axes robot wrist were proposed. Application results of the proposed control algorithms to the path including singularity showed us their usefulness and validity.