This paper proposes an impedance control methodfor redundant manipulators, which can control not only the endpointimpedance using one of the conventional impedance controlmethods, but the joint impedance which has no effects on theend-point impedance. First, a sufficient condition for the jointimpedance controller is derived. Then, the optimal controller fora given desired joint impedance is designed using the least squaresmethod. Finally, computer simulations and experiments using aplanar direct-drive robot are performed in order to confirm thevalidity of the proposed method.