<p>Unmanned aerial manipulators (UAM) have emerged as a rapidly growing research area, with a wide range of applications including aerial grasping, object delivery, and contact-based inspection. To advance the capabilities of the UAM, this paper presents a new solution: deploying the unmanned aerial redundant manipulators (UARM) in flight to perform aerial space-confined manipulation tasks. Such tasks could include aerial structural assembly, surface protection coating, and remote leak detection in challenging environments. The proposed aerial space-confined manipulation tasks impose higher demands on the inverse kinematics motion planning and control of the UARM. The UARM needs to make the end-effector reach the target position with a specific attitude while avoiding obstacles in the surrounding operating environment. A comprehensive cascade motion planning and control framework for the UARM is proposed in this paper to achieve aerial space-confined manipulation. A null-space-based inverse kinematics planner for the UARM is developed. The proposed planner is designed to simultaneously handle multiple task constraints inherent in aerial space-confined manipulation, such as end-effector configuration, UAV position, and obstacle avoidance. An impedance-based coupled-type controller is proposed for the UARM. The controller is designed to effectively suppress both internal disturbances arising from the motion of the robotic arm and external disturbances imposed on the end-effector during aerial manipulation. Comprehensive simulations, covering disturbance rejection control, multi-constraint task motion planning, and aerial space-confined manipulation, validate the effectiveness of the proposed approach.</p>