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We consider the tracking task in which a target trajectory of the hand is given in the 2-dimensional plane, and a 3-link arm is controlled. This method generates a target UCM space step by step. The target UCM space is a subspace where the variability of the joint combination does not affect the target trajectory. Then, the joint combination on the target UCM space is determined so as to minimize input torque and input torque change. For comparison, we also considered a redundancy elimination control method, and conducted simulation experiments. 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