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

We describe in this paper a new approach for automated mathematical modelling and simulation of robotic dynamic systems using fuzzy logic techniques, genetic algorithms and fractal theory. The new fuzzy-fractal-genetic approach combines soft computing techniques with mathematical methods 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 well known that even very simple nonlinear dynamical systems can exhibit "chaotic" behavior. The new method for modelling and simulation of robotic dynamic systems has been implemented as a computer program to show that our new fuzzy-fractal-genetic approach is a good alternative for modelling this kind of systems. 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. (C) 1999 Elsevier Science B.V. All rights reserved.