Got some slaves, made them servants and then while invaded one was attacked. I noticed that the shackles seem to be bad to keep on so how would you unequipped things and take shackles off?

Never mind I found it. You go to the dungeon court, select "talk" then "Can you take off your..." then spam the shackles 

idk if my memory is correct but i remember that shackles will exist as a piece of clothing after being used so you can remove them in the equipment screen?