The workspace of a robotic system is characterized to determine the actuator inputs required to achieve a desired level of dynamic performance over a chosen percentage of configurations. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end-effector (i.e.,point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs that can meet dynamic performance requirements. The method is illustrated on a robot design problem.

In this investigation a robotic system's dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end-effector (i.e.,point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point. In this work a unilevel performance measure approach (PMA) is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem

This paper presents a methodology for concurrently optimizing an IC fabrication process and a standard cell library in order to maximize overall yield.The approach uses the Concurrent Subspace Optimization (CSSO) algorithm, which has been developed for general coupled, multidisciplinary optimization problems.An example is provided showing the application of the algorithm to optimizing a mixed analog-digital library on a CMOS process.