Add to ORKGAn inverse kinematics solution scheme has been devised for a two-arm redundant cooperative system with a force manipulability ellipsoid constraint. The developed case studies have demonstrated that the solution is very flexible as it can handle different types of redundancies. Nonetheless, it should be remarked that the inverse kinematics of more complex multi-arm systems can be solved with the proposed scheme if an effective description of the cooperative task is provided. Moreover, other kinds of constraints can be considered in the same framework as long as they can be functionally characterized in terms of the joint variables of the overall system