Duarte, Fernando B. M.Tenreiro Machado, J. A.2019-04-102002-070924-090Xhttp://hdl.handle.net/10400.22/13518Redundant manipulators have some advantages when compared with classicalarms because they allow the trajectory optimization, both on the freespace and on the presence of obstacles, and the resolution ofsingularities. For this type of arms the proposed kinematic controlalgorithms adopt generalized inverse matrices but, in general, thecorresponding trajectory planning schemes show important limitations.Motivated by these problems this paper studies the chaos revealed by thepseudoinverse-based trajectory planning algorithms, using the theory offractional calculus.engPlanar manipulatorsRedundant manipulatorsChaosFractional calculusjournal article10.1023/A:1016559314798