476094.fig.004a
(a) ,
476094.fig.004b
(b) ,
Figure 4: Sequence of configurations of the robot manipulator at times with corresponding to the optimal solution of problem 2, an initial value problem for an robot manipulator with boundary conditions , , , , , , , and , obtained with a discretization of into intervals. The initial and final times are and , respectively. The corresponding control and state variables are represented in Figure 5.