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In this paper, we propose an optimization method to determine the design parameters comprising joint displacement parameters in a serial manipulator having small degrees of freedom realizing an approximated target trajectory. Using generalized differential kinematics, we can achieve efficient optimization without solving the inner-loop optimization required to obtain the reachable points. Index Terms-Kinematic synthesis, generalized differential inverse kinematics, optimization of design, serial manipulator. Manuscriptdoi:10.1109/tro.2019.2907810 fatcat:5i3ehbrrdnfv5ndnzozjkzg2eu