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Multilink robot arms are geometrically similar to chain molecules. We investigate the performance of molecular simulation methods, combined with stochastic methods for optimization, when applied to problems of robotics. An e cient and exible algorithm for solving the inverse kinematic problem for redundant robots in the presence of obstacles and other constraints is suggested. This Constrained Kinematics Stochastic Optimization" CKSO method is tested on various standard problems. 1 5 be adoi:10.1017/s0263574700019640 fatcat:td4xwvd4abbmbalp4hu5y54l7u