Marcos, Maria da GraçaMachado, J. A. TenreiroAzevedo-Perdicoúlis, T. P.2014-06-252014-06-2520091007-5704http://hdl.handle.net/10400.22/4575The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints.engRedundant manipulatorsKinematicsGenetic algorithmsTrajectory planningjournal article10.1016/j.cnsns.2008.10.014