Automated mathematical modelling and simulation of robotic dynamic systems using a new fuzzy-fractal-genetic approach

We describe in this paper a computer program for automated mathematical modelling and simulation of robotic dynamic systems using fuzzy logic techniques, genetic algorithms and fractal theory. The computer program combines soft computing (SC) techniques with mathematical methods and can be considered an intelligent system for the domain of modelling and simulation of robotic systems. This domain is quite complex because robotic systems can be viewed as nonlinear dynamical systems, and it is a well known fact that even very simple nonlinear dynamical systems can exhibit “chaotic” behavior. The computer program simulates the reasoning of a human expert in the process of developing mathematical models of robotic dynamic systems (RDS). The program contains the knowledge of the human experts expressed as fuzzy rules (in the knowledge base) for mathematical modelling and simulation (MMS) of robotic systems. The computer program uses efficiently SC techniques and fractal theory for MMS of RDS. Mathematical modelling and simulation of robotic systems is very important because it can help in the control of an actual system or in the design of a new system using the results of the simulations