Aiming at the problem of joint position constraint of redundant manipulator, the joint position control strategy of redundant manipulator was designed, and the motion effect of the manipulator was simulated and verified under different conditions. The sketch model of redundant manipulator was established, and the motion equation of the manipulator was deduced by the Jacobian matrix. The priority task architecture of the manipulator was analyzed, the limit states of the redundant manipulator under different priority conditions were compared, and the monitoring system of the manipulator was introduced. The simulation environment of the manipulator was set up and the motion of the manipulator was simulated by using MATLAB software. The results show that both joints of the manipulator violate the limit; the monitoring system can avoid the limitation of joint position and lead to a large path tracking error. The path following error does not affect the required relative end effector motion and can maintain the relative motion of the end effector to ensure the stability of the grasping object; the effectiveness of redundant manipulator controller was proved. By using the strategy can avoid the limitation of the manipulator joint in the process of motion and achieves the path tracking function of the manipulator in grasping objects