Canonical URL/permalink redirects for spiders only - any penalties?

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I've noticed that despite my providing permalinks, a number of inbound
links to my site include session IDs. There are sessionless URLs for
those pages, and I'm thinking of doing 301 redirects to them, but only
for known (and welcome) spiders.

Do you think that Google or any other SE would frown on that? I'm
inclined to think not, but in this business climate, I'm inclined to
be cautious.

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