476094.fig.005a
(a)
476094.fig.005b
(b)
476094.fig.005c
(c)
476094.fig.005d
(d)
476094.fig.005e
(e)
Figure 5: Control and state variables of the optimal solution of problem 2, an initial value problem for a robot manipulator with boundary conditions , , , , , , , and . The initial and final times are and , respectively. The corresponding sequence of configurations of the robot manipulator at times with is represented in Figure 4.