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- An evolutionary approach to the trajectory planning of redundant robotsPublication . Marcos, Maria da Graça; Tenreiro Machado, J. A.; Azevedo-Perdicoúlis, T. P.Several kinematic techniques for the trajectory optimization of redundant manipulators control the gripper using the pseudoinverse of the Jacobian. Nevertheless, these algorithms lead to a kind of chaotic motion with unpredictable arm configurations. This paper presents a new technique for solving the inverse kinematics problem for redundant manipulators that combines the closed-loop pseudoinverse method with genetic algorithms.