This chapter presents a method for redundant manipulators working in the small opening workspace without collision. To achieve this aim, we began with an improved incremental Radial Basis Function Neyral Network (RBFNN) method to estimate manipulator dynamic parameters, and then with the help of Lynapunov function, the control strategy could converge within a fixed-time. To avoid the collision of workspace and constrain the posture of end-effector, we proposed a safety region CNN method adapted with the Remote Center of Motion method inspired by the minimally invasive surgical manipulator. Torque observer is also implied to estimate the external force to resist external interference. Experiments on Baxter, a 7-DoF redundant manipulator, demonstrate the feasibility of the proposed control strategy.