Being a key area in contemporary robotics, redundant manipulators have attracted considerable interest owing to their excess degrees of freedom (DOFs) beyond the minimum necessity for accomplishing specific tasks. These extra DOFs provide a significant advantage, enabling redundant manipulators to perform primary tasks such as precise end-effector trajectory tracking or force control while simultaneously addressing secondary objectives like obstacle avoidance, joint constraints, energy optimization, and task-specific requirements such as posture control. For example, in tasks that involve delicate interactions with objects, such as assembly or medical surgery, redundant manipulators can adjust their posture dynamically, ensuring optimal tool orientation and minimizing the risk of collisions. Furthermore, the ability to implement position-force control is a key strength, allowing for effective interaction with the environment where both position and force need to be tightly controlled, such as in robotic-assisted surgery or handling fragile materials. Additionally, in scenarios like minimally invasive surgery, the concept of the remote center of motion (RCM) becomes particularly relevant, where the manipulator’s motion is constrained around a fixed point, known as the RCM, offering high precision without disturbing the target area. Despite the flexibility and adaptability that these extra freedoms provide, they also significantly increase the complexity of system modeling, motion planning, and control. The inclusion of posture and force control requirements further complicates the task, especially when high precision and real-time performance are demanded.