Abstract—Optimization of the elements and systems from Robotics is one of the most complicated problem with the final goal to obtain the end-effecters' 3D extreme space precision trajectory. In the paper are shown some of the proper methods for optimization in Robotics: optimal Extenics choose of the precision- stability working point of one linear hydraulic cylinder; modelling and optimization of the DC electrical drive of the robots; optimising the dynamic behaviour of the robots by using the intelligent dampers; optimise the inverse kinematics results by using one complex proper method; optimise the multi robots application by using the algorithm to choose the optimal application points of the robots' bases and by construct the parallel robot structure using three arm type robots. All applied method solves one small part of the complex problems of the optimisation in robotics. Index Terms—Assisted optimization LabVIEW methods, forward kinematics, inverse kinematics, dynamic behavior, 3D space trajectory. I. INTRODUCTION Precision and stability of all dynamic systems is one of the more important contradictory problem what must be solved. This problem is contradictory because if we try to increase the precision imposed from the application, decrease the stability and will be possible to touch the limit of stability, when the element or system can’t be controlling more, otherwise if we try to increase the stability, the precision will decrease and the element or system is very slow and will don’t respect the minimal promptitude desired l imit. The Extenics theory was created by prof. Cai Wen in 1983 by publishing the paper “Extension Set and Non-Compatible Problems”[1]-[3]. Its goal was to solve contradictory problem and also nonconventional ideas in many fields of technical, social, philosophical and architectural. Usually the Extenics theory operate with some extension transformation what change the problem from the contradictory field in to non-contradictory by extend the universe of discourse and respect the same value of the dependent function. Some used mining of the transformation [1]-[3] are substitution, increasing/decreasing, expansion/contraction, and some complex transformation like expansion-duplication, approximation-duplication, substitution- increasing. Many of the contradictory problem can’t be solved by using only Manuscript received September 9, 2017; revised October 30, 2017. This work was supported in part by the RUSOS European project and was realized together with the mechatronics companies RomSYS S.A from Romania and TechnoAccord from Quebec, Canada. A. D. Olaru is with the University Politehnica of Bucharest, Romania (e-mail: aolaru_51@ymail.com). M. Hajduk and N. Smidova are with Technical University of Kosice, Slovakia. S. A. Olaru was with RomSys SA, Bucharest, Romania (e-mail: serban1978@yahoo.com). N. C. Mihai is with the TechnoAccord SA, Quebec, Canada (e-mail: mniculae@gmail.ca). one transformation and must be applied many successive or simultaneously transformations. The other more important thing in the optimization field of the robots' is the dynamic behavior. The paper presents one assisted method with the proper virtual LabVIEW instruments (VI) for the assisted of the theoretical and experimental research of the industrial robots with DC motors. The virtual instruments were achieved in the LabVIEW TM soft 8.2 from National Instruments, USA. The VI-s simulates the open and closed loop of the DC servo systems, and the data acquisition of the velocity and acceleration and generate the Fourier spectrum with the final goal to compare simulation results with the real results [4]-[9]. This method will be possible to be used in the assisted research of the many other mechanical applications where it is necessary to know the dynamic behavior, the vibration spectrum and how the constructive and functional parameters of the DC servo systems and the movements cases (the equilibrium of the robot’s arm) determine the major changes of the spectrum and of the dynamic behavior. Now, in the world, all the dynamic determination of the dynamic behavior, of the vibration spectrum are made with some complex apparatus with the expensive cost. This paper tries to develop one general assisted methodology of the dynamic behavior in the real and frequency domain of the articulated arm type robot. In the paper were solved the following problems: the theoretical and the experimental assisted research with data acquisition by using the proper theoretical and experimental LabVIEW VI; the optimization of the dynamic behavior with the virtual proper VI-s; the choice of the optimal DC motor and the parameters for closed loop, to obtain one better dynamic behavior results. In the world, the actual research does not approach the assisted virtual instrumentation for the optimization of the dynamic behavior [10]-[15]. The Global Dynamic Compliance (GDC) [16]-[20] is one of the most important parameter in the dynamic behavior of the industrial robot. In the manufacturing systems is necessary to know the vibration behavior of the robot, the Viscose Global Dynamic Damper Coefficient (VGDDC), or the Viscose Global Dynamic Damper Equivalent Coefficient (VGDDEC) of his structure and how the dynamic variation of acceleration determines the damped mechanical vibrations, to avoid the resonance frequencies from the Fourier spectrum. The paper shows for the first time one assisted research method with proper virtual LabVIEW TM instruments for determining the GDC, VGDDC, VGDDEC of the industrial robots. The virtual instruments were achieved in the LabVIEW soft 8.2 full development from National Instruments, USA. These virtual apparatus are generally, we can use them in many others mechanical researches and applications. Now, in the world, the GDC are not determined for the robots and for that this paper presents a novelty in this field. The complex task of controlling the movements of all joints of a robot in mono and multi robot applications Assisted Methods for Optimization in Robotics Adrian D. Olaru, Mikulas E. Hajduk, Serban A. Olaru, Niculae C. Mihai, and Natalia M. Smidova International Journal of Modeling and Optimization, Vol. 7, No. 5, October 2017 256 DOI: 10.7763/IJMO.2017.V7.594