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This paper outlines a concurrent design methodology for multidisciplinary systems, which employs tools of fuzzy theory for the tradeoff in the design space. This methodology enhances communication between designers from various disciplines through introducing the universal notion ofsatisfaction and expressing the behaviour of multidisciplinary syst...
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... with the LCD methodol- ogy, consisting of forward and inverse kinematics, and a recursive Lagrange-Euler inverse dynamics. A generic bond graph model of a serial-link manipula- tor is also utilized to calculate the performance supercriterion, a detailed description of which is pre- sented in [33]. The resulting design architecture, shown in Fig. 4, is employed to concurrently improve the design of a five d.o.f. industrial manipulator, namely CRS-CataLyst 5, to follow a number of pre- defined trajectories, including step, ramp, pick-and- place, and periodic, subject to one kilogram payload at the ...
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