Desired Frequency of the Control System

We must decide on the required frequency of the system. In this system we have four frequencies to be considered:

• Input frequency, which represents the frequency of changes to the manipulator status (position, velocity, and acceleration).
• Update frequency, representing the speed of calculations involved.
• Sensing frequency, which depends on the A/D converters that feed the control system with the actual positions and velocities of the manipulator links.
• Noise frequency: since we are dealing with a real-time control system, we must consider different types of noise affecting the system such as: input noise, system noise, and output noise (from the sensors).