1. How do you determine internal-motion vector for a kinematically-redundant open kinematic-chain…

1. How do you determine internal-motion vector  for a kinematically-redundant open kinematic-chain which is required to avoid the joint limits? 2. How do you determine internal-motion vector   for a kinematically-redundant open kinematic-chain which is required to avoid the singularity caused by the inverse of (J • Jt)?