In industrial and collaborative environments, robotic manipulators are extensively used due to their precision and adaptability in performing complex tasks. Inverse kinematics is used to determine the joint configurations needed to achieve a target end-effector pose, which is given by both position and orientation. In redundant systems, where the number of degrees of freedom exceeds the minimum required for reaching the target, multiple inverse kinematics solutions exist. This redundancy admits additional optimization objectives, used to enhance the robot’s performance. The aim of the thesis project is to develop an IK algorithm that allows a robotic arm to reach a specified target, while optimizing additional factors.