How to set up a physical model optimisation scheme using Simscape Multibody and MATLAB?

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Shankhadeep
Shankhadeep about 21 hours 前
Well, I have been working on designing a robot and part of my study includes optimising the link lengths for energy usage and some parameter say 'x'. I have a working robot model and currently I am feeding pre-baked trajectories to the revolute joints of the model in Simscape. What I want to achieve is, I want to create a different MATLAB script which initialises all the design parameters and then starts the simulation with those parameter values. Once the desired parameter value 'x' has been achieved by the simulation, it should then feed that value back to the opimisation script. Now this script should use a cost function to minimise the energy usage through some genetic algorithm. It may use the simulation repeatatively to optimise the link lenghts. I'm not sure if anything of this structure is even possible to make, hence all kinds of suggestions are welcome. I'm new to Simscape and hence don't know a lot. Any help is appreciated.

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