Geodesic
Use of structural mutations in object-oriented mathematical models of robot manipulation systems
Matematičeskoe modelirovanie, Tome 31 (2019) no. 6, pp. 129-144.

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The use of the method of targeted structural mutations of mathematical models is considered. The method allows you 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 visual design of the object diagrams of mathematical models. Modifications of object diagrams are carried out 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 for the influence of random factors that are not taken into account by the original mathematical model obtained by the analytical method.
Keywords: mathematical models, object-oriented approach, visual design of models, simulation modeling, mutation method, genesis of targeted mutations. 
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O. N. Krakhmalev. Use of structural mutations in object-oriented mathematical models of robot manipulation systems. Matematičeskoe modelirovanie, Tome 31 (2019) no. 6, pp. 129-144. http://geodesic.mathdoc.fr/item/MM_2019_31_6_a7/

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