Marcos, Maria da GraçaMachado, J. A. TenreiroAzevedo-Perdicoúlis, T. P.2014-03-172014-03-172011978-90-481-9883-2978-90-481-9884-9http://hdl.handle.net/10400.22/4213The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms have been investigated in the last years. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. In this case the trajectory planning is formulated as an optimization problem with constraints.engRedundant manipulatorsKinematicsGenetic algorithmsTrajectory planningbook part10.1007/978-90-481-9884-9_40