“…This approach for solving multi-objective problems with several objective functions and complex tradeoffs among them is known as "minimax method", (Mathworks, 2009). The "minimax method" is widely indicated in the literature for many problems, like for example for estimating model parameters by minimizing the maximum difference between model output and design specification, (Pankov et al, 2000), (Eldar, 2006). Optimal design of manipulators can be also formulated the form…”