SYMBOL FORM OF ROBOT WORK MODEL.
Authors: S. U. Zhanatauov
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The formalization of the robot's actions in the "rods-disks" system has been carried out. Its elements are introduced - rods A, B, C, n disks on 3 rods, positions of elements and disks (on the 1st, 2nd, 3rd rods) inherent for each number of disks: 3,4,5 ,…, n, and trajectories of positions. Symbolic functions are introduced, showing in adjacent positions: 1) symbolic gradation of n lengths, diameters of n disks; 2) symbols of 2 rods, from where and where the disk moved; 3) the resulting character position. Descriptions of positions, formulas for robot actions and verbal descriptions of the results of robot actions are given. The functions vyt (*),nad(*) depend on the symbolic function perenos(*(*), the function koeff(((А)+((В)+((С))= (+(+( (its argument is equal to the sum symbolic values ??of the functions vyt (*),nad(*) allow us to evaluate the quantitative criterion for the closedness of the rod-disc system: perenos (***(***)=vyt(*)+nad(*)=(linear combination of coefficients (,(,(). Parameters A, B, C, n, variables (,(,( and the above symbolic functions перенос(*(*),vyt (*),nad (*) and the numerical function koeff (((А)+((В)+((С) form a symbolic model of the work of the robot-carrier (according to principles 1 and 2).