How to find singularities of robotic manipulator?

How to go about finding the singularities of a manipulator whose Jacobian is not square, such as in the case of a 7 DoF arm? I’ve considered just padding the Jacobian with a row of zeros at the bottom to make it square, but I’m not sure how that affects the answer. Thank you!!

submitted by /u/kitties_and_biscuits
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