Lincoln was active in the civil rights movement of the 1960s, the Times said.
Born Anna Marie Wooldridge in Chicago Aug. 6, 1930, and raised in Michigan, Lincoln was the second-youngest of 12 children. In the 1950s, she sang in nightclubs in Hawaii, and then went to Los Angeles.
After working with drummer Max Roach on her second album, "That's Him," Lincoln collaborated with Roach on "We Insist! Max Roach's Freedom Now Suite" -- which the Times said is regarded as a significant musical contribution to the civil rights movement.
Lincoln and Roach married in 1962 and divorced in 1970. Lincoln kept a low profile in Los Angeles following the divorce but got back to performing after moving to New York in the 1980s, issuing nine albums including "The World Is Falling Down" and "Abbey Sings Abbey."
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She is survived by David Wooldridge, another brother, Kenneth Wooldridge, and a sister, Juanita Baker.