Use of Structural Mutations in Object-Oriented Mathematical Models of Robot Manipulation Systems

Abstract: The use of the method of targeted structural mutations of mathematical models is considered. The method allows us to create approximate models of robot manipulation systems by modifying their object-oriented mathematical models. Manipulation systems are considered as continuously deterministic systems described by systems of algebraic and ordinary differential equations. The implementation of this method is based on the possibilities provided by the method of visually designing the object diagrams of mathematical models. Object diagrams are modified by replacing the parts selected in them with alternative objects to these parts. The use of the structural mutation method makes it possible to compensate the influence of random factors that are not taken into account by the original mathematical model obtained by the analytical method. © 2020, Pleiades Publishing, Ltd.