Sformalizowanym sposobem na opis algorytmów jest algebra algorytmów. Podstawowym elementem algebry algorytmów jest uniterm. Artykuł prezentuje sposób formowania unitermów złożonych w nowym systemie komputerowym tworzenia formuł algebry algorytmów.
EN
A formalized way to describe an algorithm is the algebra of algorithms. The basic element of algebra of algorithms is an uniterm. The paper presents a method of forming complex uniterms in a new computer system to create formulas of algorithms' algebra.
The paper presents general types of impactive grippers used in industry. It list the general categories of grippers and describe the impactive grippers in terms of application.
W artykule przeprowadzono krótką analizę właściwości formuł algorytmów oraz istniejących systemów komputerowych pozwalających na edytowanie formuł algebry algorytmów. Za pomocą algebry algorytmów został opisany utworzony model dekompozycji systemu formowania unitermów złożonych, fragment modelu podstawowego podsystemu okna graficznego oraz model unitermu funkcyjnego opracowania wyboru unitermu złożonego.
EN
Very often algorithms are described verbally or like a unit - by diagram. The well known methods offering algorithms are: Post [1], Turing [2], Aho-Ullman-Hopcroft [3] or Schönhage [4] virtual machines, recursive functions (calculus λ, Church) [5], Markov algorithms [6], b-complexes of Kolmogorov (Kolmogorov machine) [7], Krinitski universal algorithms [8], algorithm algebra [9] and expansion of algorithm algebra [10]. For the computer algorithm algebra formula optimization a computer systems were developed [11-15]. In order to automate processes of editing of algorithm algebra formulas and to decrease the number of required executed operations the computer systems "Modal" [16], "AbstraktAl" [17] and "GenKod" [18] has been created. A brief analysis of algorithm formula characteristics as well as of the existing computer systems for algorithm algebra formula edition have been conducted. The model of system for the complex uniterms forming, a part of the basic model of the graphics window subsystem, and the model of function uniterm for formulating complex uniterms have been developed. Models with the help of the algebra algorithms have been described. For implementation of the models the C# language and Microsoft Visual Studio.Net [19] were used.
Matlab/Simulink provides many toolboxes. The most useful toolboxes in the field of robotics are Matlab's Virtual Reality Toolbox and Simulink's SimMechanics Toolbox. This paper describe shortly how to model a manipulator.