The pseudoinverse-type solution may exceed the physical limit of a manipulator. To address this problem, two kinds of jointvelocity constraint schemes of redundant manipulator based on the pseudoinverse algorithm are proposed. Firstly, according to the tracking task of the end-effector, the pseudoinverse algorithm is used to analyze the redundancy at the velocity level. Secondly, two constraint schemes are utilized to limit and compress the specified joint velocity. A new velocity solution is obtained to perform the specified trajectory-tracking task. Then, the error compensation function is designed to eliminate the position error of the end-effector to ensure the smooth execution of the tracking task. Finally, simulation results based on the MATLAB software are analyzed and discussed. The algorithm is further evaluated using a six-DOF manipulator which is controlled by the Arduino platform. These results show that the maximum tracking errors do not exceed 3×10 -4 m with two proposed constrained schemes. And the time-varying function constrained scheme can achieve better velocity stability when the joint velocity is limited.