A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced for this problem. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlling each joint angle of the manipulator. The joint velocity limits as well as the joint limits are incorporated into this method. Experiments are conducted for the PA-10 redundant arm to demonstrate the efficacy of the proposed control system. A comparative study is made with the gradient projection method.