For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utlized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network. For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utlized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.