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Redundant manipulators (RMs) have been gaining more attention thanks to their excellent merits of operating flexibility and precision. Inverse kinematics (IK) study is critical to the design, trajectory planning, and control of RMs, while it is usually more complicated to solve IK problems which may inherently have innumerable solutions. In this work, a novel approach for solving the IK problems for RMs while retaining the redundancy characteristics has been proposed. By employing a constraintdoi:10.5194/ms-12-259-2021 doaj:6d717cd5c5df4f55913ee6bc4bc2c755 fatcat:uyurt52qlzhmzdid3awoq7ztzy