The invention discloses a rapid judging method for configuration singularity of a mechanical arm with the redundant degree of freedom. The method is characterized by including the following steps that the tail end speed and the joint angular speed of the mechanical arm with the redundant degree of freedom meet the mapping relation that x=J*q, wherein x represents the tail end speed, q represents the joint angular speed, and J represents the jacobian matrix; the maximum singular value and the minimum singular value of the jacobian matrix are calculated, the specific value of the maximum singular value and the minimum singular value of the jacobian matrix is used as the conditional number, and when the conditional number is greater than a set number, it is determined that the configuration of the mechanical arm has singularity; and in the process of calculating the conditional number of the jacobian matrix, real-time values of the maximum singular value and the minimum singular value are obtained through intermediate result iteration based on generalized inverse calculation, and the requirement for calculating the conditional number in real time is met. By means of the method, the complex calculating problem of obtaining the conditional number of the jacobian matrix through singular value decomposition is solved, and meanwhile the calculating efficiency is improved.