In this paper, the minimum time trajectory planning problem which specifies only initial and terminal positions of manipulator is discussed. To solve this problem, controller with weighted feedback gain obtained by pole placement method will be designed. Use this method, transient motion is Bang-Bang type and steady motion converges to the terminal condition. If a good value of weighting constant in order that robot manipulator converges to the terminal condition is chosen, then the minimum time motion with computation of feedback gain using the pole placement method is obtained. And also this algorithm has a disturbance/noise rejection effect.
