Marcos, Maria da GraçaTenreiro Machado, J. A.Azevedo-Perdicoúlis, T. P.2019-04-042019-04-042008-07http://hdl.handle.net/10400.22/13409Several 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.engManipulators controlKinematic redundancyAlgorithmsAn evolutionary approach to the trajectory planning of redundant robotsconference object10.1109/ISGTEurope.2012.6465761