Pires, E. J. SolteiroTenreiro Machado, J. A.Oliveira, P. B. de Moura2019-04-042019-04-042001-08-22http://hdl.handle.net/10400.22/13389This paper proposes a genetic algorithm to generate a robot structure and the required manipulating trajectories. The objective is to minimize the space/time ripple in the workspace, while optimizing the mechanical structure.engGenetic algorithmRobotManipulatorconference object