I am facing problems in minimizing the objective function to compute the motion profiles of robotic arm. Any help is greatly appreciated.

objective = @(h) h(1)+h(2)+h(3)+h(4)+h(5)+h(6)+h(7)+h(8)+h(9);

h0= [0.01,0.20,0.29,0.07,0.26,0.06,0.27,0.07,0.05];

disp(['Initial Objective: ' num2str(objective(h0))])

A = [];

b = [];

Aeq = [];

beq = [];

% variable bounds

lb = [];

ub = [];

nonlincon = @nlcon1;

1. abs[(w(i+1)-w(i))/h(i)]=<240
2. h(i)>0

options = optimoptions(@fmincon,'MaxIterations',15000000,'MaxFunctionEvaluations',15000, 'StepTolerance', 1500);

x = fmincon(objective,h0,A,b,Aeq,beq,lb,ub,nonlincon,options);

A following erroe appears

Converged to an infeasible point.

and also h(i) are negative such as

-0.9526 -0.7626 -0.6726 -0.8926 -0.7026 -0.9026 -0.6926 -0.8926 -0.9126