Abstract: A damped pseudoinverse kinematic control scheme with optimization of secondary performance criterion is presented ,which can be treated as an extended form of conventional damped pseudoinverse solutions. With the scheme and the method of selecting damping and optimizaton factors proposed here, the manipulator's dexterity is expected on be exploited more effectively. Based on the singular value decomposition(SVD) methods, and efficient parallel algorithm is provided in order to implement the control scheme in real control systems. Simulations show the advatages of the scheme over other relative ones.