Kinematic control techniques are based on an inverse kinematic transformation which feeds the reference values to the joints corresponding to the assigned end-effector trajectory. In this paper, a inverse kinematics algorithm for redundant robots is developed which takes into account joint velocity and acceleration limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be given on-line. Numerical simulation results are reported to demonstrate the application of the proposed technique.