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The presented method deals with the uncertainties associated with the unknown kinematic properties of intermediate via points since they are generated as the algorithm evolves looking for the solution. Additionally, the objective of this algorithm is to minimize the trajectory time, which guides the robot motion. The method has been applied successfully to the PUMA 560 robotic system. Four operational parameters (execution time, computational time, end-effector distance traveled, and significant points distance traveled) have been computed to study and analyze the algorithm efficiency. The experimental results show that the proposed optimization algorithm for the trajectory planning problem of an industrial robot is feasible.<\/jats:p>","DOI":"10.1017\/s0263574714000393","type":"journal-article","created":{"date-parts":[[2014,3,10]],"date-time":"2014-03-10T11:19:13Z","timestamp":1394450353000},"page":"669-683","source":"Crossref","is-referenced-by-count":26,"title":["A direct approach to solving trajectory planning problems using genetic algorithms with dynamics considerations in complex environments"],"prefix":"10.1017","volume":"33","author":[{"given":"Fares J.","family":"Abu-Dakka","sequence":"first","affiliation":[]},{"given":"Francisco J.","family":"Valero","sequence":"additional","affiliation":[]},{"given":"Jose Luis","family":"Su\u00f1er","sequence":"additional","affiliation":[]},{"given":"Vicente","family":"Mata","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,3,10]]},"reference":[{"key":"S0263574714000393_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-61068-4"},{"key":"S0263574714000393_ref33","volume-title":"The 12th World Congress in Mechanism and Machine Science, IFToMM","author":"Abu-Dakka","year":"2007"},{"key":"S0263574714000393_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.euromechsol.2013.05.007"},{"key":"S0263574714000393_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2008.06.002"},{"key":"S0263574714000393_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9202-0"},{"key":"S0263574714000393_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2005.06.009"},{"key":"S0263574714000393_ref20","volume-title":"Proceedings of the 10th International Conference on Advanced Robotics (ICAR'01)","author":"Pires","year":"2001"},{"key":"S0263574714000393_ref15","doi-asserted-by":"publisher","DOI":"10.1142\/1111"},{"key":"S0263574714000393_ref16","first-page":"489","volume-title":"IEEE International Conference on Intelligent Systems for the 21st Century","author":"Toogood","year":"1995"},{"key":"S0263574714000393_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870663"},{"key":"S0263574714000393_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.08.002"},{"key":"S0263574714000393_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-25486-4_9"},{"key":"S0263574714000393_ref3","doi-asserted-by":"publisher","DOI":"10.1023\/A:1017587311457"},{"key":"S0263574714000393_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-010-0190-8"},{"key":"S0263574714000393_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.euromechsol.2004.02.006"},{"key":"S0263574714000393_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/41.824136"},{"key":"S0263574714000393_ref32","volume-title":"The 17th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2008","author":"Abu-Dakka","year":"2008"},{"key":"S0263574714000393_ref14","volume-title":"Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control and Artificial Intelligence","author":"Holland","year":"1975"},{"key":"S0263574714000393_ref18","doi-asserted-by":"publisher","DOI":"10.1049\/cp:19960522"},{"key":"S0263574714000393_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-007-9037-7"},{"key":"S0263574714000393_ref1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2012.689743"},{"key":"S0263574714000393_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2003.10.001"},{"key":"S0263574714000393_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.807548"},{"key":"S0263574714000393_ref30","first-page":"422","volume-title":"The Third International Conference on Genetic Algorithms","author":"Gorges-Schleuter","year":"1989"},{"key":"S0263574714000393_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(96)00010-3"},{"key":"S0263574714000393_ref34","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"S0263574714000393_ref6","first-page":"1553","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems IROS '97","author":"Piazzi","year":"1997"},{"key":"S0263574714000393_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROMOCO.1999.791079"},{"key":"S0263574714000393_ref21","doi-asserted-by":"publisher","DOI":"10.1023\/B:JINT.0000004973.29102.33"},{"key":"S0263574714000393_ref36","unstructured":"M. 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