In planning robotic manipulations. heuristic searches are commonly considered impractical due to the high dimensionality of the problem caused by redundancy in the kinematic chain. In this paper. we present an optimal motion planning algorithm for an overly redundant minimally actuated serial robot (MASR) using the manipulator workspace as a foundation for the heuristic search. https://unitedssports.shop/product-category/bike-units-cruiser/