Example (4)

• Performance Criteria:
  • Maximum speed ( ).
  • Minimum position error (e).
• Optimization Parameters:
  • Update frequency (u).
  • Feedback frequency (sensor reading rate, r).
• Optimization Functions:

  The overall objective function is:

• Constraints:
  • Link lengths and masses.
  • Feedback gains.
  • Motor parameters.
  • Friction.
  • Sensor ranges.
  • Maximum computer speed.
  • Maximum speed for the communication part (A/D and D/A).
• Strategy:

  We again use simulation to get a quantitative measure for the overall objective function, with the pattern search on the two frequencies given the maximum speed for the computer and the sensor reading rate.