In this work. a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots. which consists on optimizing the joint displacement while the end effector is positioned and oriented in a desired pose. The novelty of this approach is in the formulation of the optimization problem. https://www.roneverhart.com/Western-Digital-Ultrastar-DC-HC570-WUH722222ALE6L4-0F48155-22TB-7-2K-RPM-SATA-6Gb-s-512e-SE-3-5in-Refurbished-HDD/