Inverse kinematics has always been a major subject of extensive research filled with redundancy. A need for meticulous functioning and fast computation is always high in any mechatronic system and is growing with new advances and human requirements. In this paper, a T4R (T-Twisting, R-Rotary) robot with constrained motion and joint precision of 1 degree is analyzed for its workspace and kinematics. While the redundant inverse kinematic solution is being optimized for precision and limiting errors, further can be used for programming and motion planning a Robotic Manipulator or Arm. The strategies developed in this paper could also be useful for solving the inverse kinematics problems of other similar types of robotic arms.

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