how to convert total lagrangian tangent stiffness to corotational

hello Dear friends

I am working on large displacement of euler beam. I used total lagrangian approach. because of field consistency between degrees of freedom(displacement and theta) tangent stiffness matrix depends on tangant theta and consequently becomes singular for theta=90. so I am seeking for a method to overcome this problem. I believe that the solution is to remove rigid body rotation from analysis. please correct me. is this reasonable. if yes how should I remove rigid bodu rotation

best regards.