Trajectory planning for robotic manipulators is a challenging problem that continues to receive a great deal of attention. This paper demonstrates the applicability of pseudospectral optimal control to solve the motion planning problem for a two-link robotic arm. Minimum-time point-to-point maneuvers in the absence and presence of workspace obstacles are considered. Incorporating kino-dynamic constraints on the manipulator joint angles, velocities and accelerations, as well as control torque limits into the optimal control formulation ensures the computed solutions are physically realizable. The feasibility of the numerical results is verified by executing the computed trajectories on an experimental robotic manipulator.
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