Pseudo-spectral method typically converges at an exponential rate. However, it requires a special set of fixed collocation points (CPs) to get highly accurate formulas for partial integration and differentiation. In this study, computational nodes for defining the discrete variables of states and controls are built independently of the CPs. The state and control variables at each CP, which are required to transcribe an NOCP into the corresponding NLP, are interpolated, using those variables allocated at each node. Additionally, Lagrange interpolation and spline interpolation are investigated, to provide a guideline for selecting a favorable interpolation method. The proposed techniques are applied to the solution of an NOCP using equally spaced nodes, and the computed results are compared to those using the standard PS approach, to validate the usefulness of the proposed methods.