A new approach for solving the inverse kinematics problem iteratively is presented. The solution is based on the recursive estimation of a kinematics operator which maps the task space coordinates into joint coordinates. The recursive estimation is based on least square approximation. For controlling the robot, the solution (joint coordinates) must be compensated to achieve an arbitrarily small error (in least square sense) of the desired task space coordinates. The compensation is provided by closed-loop feedback of task space coordinates using an optimal control approach.