Nicolini Do Patrocínio Nunes, Luiz EduardoGamarra-Rosado, Victor Orlando [UNESP]Grandinetti, Francisco José2014-05-272014-05-272011-12-01Advances in Intelligent and Soft Computing, v. 124, p. 749-759.1867-5662http://hdl.handle.net/11449/72829This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.749-759engGenetic algorithmsInverse kinematicsOptimal trajectoryRobotic manipulatorAngular displacementComputing costInverse kinematics problemMulti-objective functionsOptimal trajectoriesPlanar robotic manipulatorPositioning errorRobotic manipulatorsComputer simulationFlexible manipulatorsIntelligent robotsIntelligent systemsInverse problemsKnowledge engineeringOptimizationRoboticsTrajectoriesTrabalho apresentado em evento10.1007/978-3-642-25658-5_89Acesso aberto2-s2.0-84855219861