Two link planar manipulator trajectory planning

Hi everyone, I don't understand how I can solve this problem:

I have the initial and the final position on both links and I want to find a path which minimize this cost function: in particular I want to find m points in order to find the optimal trajectory

where

How can solve this problem using fmincon?

thanks

[darova]

Please attach more informations. Show the picture. DO you have one?

[Daniele1]

this is the system: theta1 and theta2 at t0 end tf are known (t0 is the initial time, tf is the final one).

[Daniele1]

*and

[darova]

Something is missing. Do you know how to find ?

How to find θ for t2?

[Daniele1]

θ at t2 is an unknown

[darova]

• I have the initial and the final position on both links

Do you have angles? Or it's only x y?

[Daniele1]

I have them

[darova]

I think optimal value will be just difference

[Daniele1]

exactly!!! Thats'why I don't know how to solve it.

[darova]