Algorithm for solving 1 Arbitrary distribution 1 Chance constraint 1 Chance constraints 1 Chance-constrained optimizations 1 Constrained optimization 1 Constraint functions 1 Hilbert spaces 1 Inverse problems 1 Kernel trick 1 Manipulators 1 Nonparametric uncertainties Reproducing Kernel Hilbert spaces 1 Robust-optimal controls 1 Space embedding 1 Uncertainty analysis 1 Vector spaces 1 nonparametric uncertainty 1 robust optimal control 1