A Test Procedure Optimization Method for an Industrial Robot Servo System on an Integrated Testing Platform

Algorithm 1

Pseudocode for the simulated annealing algorithm.

	Initialized (Tk, Tf, lam, res, S0);
	Let T = Tk, Scurrent = S0
	If T > Tf
	Repeat
	For k = 1 to res do
	Begin
	Generate (Snew from C)
	If f (Snew) < f (Scurrent), Then Scurrent = Snew
	Else if exp{−[f (Snew) − f (Scurrent)]/Tk} > r, Then Scurrent = Snew
	End
	k = k + 1
	T = lam∗T
	End
	End