This thesis is concerned with the optimal trajectory of a type-2 SCARA robot manipulator. The manipulator model is formulated using Lagrange's equations of motion from classical mechanics to create a dynamic model with nonlinear coupled ordinary differential equations. The optimal control problem and the necessary conditions for the general problem are stated. The optimal control laws for the single joint motion model are determined and used for the control of the manipulator for simultaneous joint operations. A computer program was written to numerically solve the general problem using a Two-Point Boundary Value Problem method.
