Abstract: Based on the weighted least-norm(WLN) solution,an optimization method that avoids calculating the pseu-doinverse of Jacobian matrixes is presented.Firstly,the inverse of the nonsingular 6x6 submatrix of the Jacobian is calculated to determine particular and homogeneous solutions of the inverse kinematics.Then,the solution of the inverse kinematics is obtained by subtracting the homogeneous solution's component in the direction of the particular solution from the particular solution.An illustrative example and simulation on a seven degree-of-freedom redundant manipulator are taken to verify the effectiveness of the method in reducing the solving difficulty,ensuring the accuracy of solution,and avoiding the joint limits.