Duarte, FernandoMachado, J. A. Tenreiro2015-12-042015-12-04200285-900351-6-6http://hdl.handle.net/10400.22/7070Nonlinear Dynamics, chaos, Control, and Their Applications to Engineering Sciences: Vol. 6 - Applications of nonlinear phenomenaSeveral kinematic algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control acheme is tested through experiments that reveal the difficulties that often often arise. Motivated by these problems this paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirm the non-linear and chaotic performance of the algorithm and gives a deeper insight towards the future development of superior trajectory control systems.engbook part