The aim of this research was to develop a theoretical method for the ergonomic optimization of the work space of the upper limb. This method is based on a model of the upper extremity with 7 degrees of freedom. It consists of 3 rigid elements modeling the arm, forearm, and hand and 34 upper extremity muscles. The trunk is considered immobile. The shoulder joint is modeled as a rotating kinematics pair of third class, the elbow and wrist joints--of fourth class. The minimum sum of muscle force moments in the joints and soft saturation muscle cooperation criterion were used as merit criteria. The developed method makes it possible to effectively solve, in a defined work space, the task of work space optimization.