The symbols [ q q ] and [q"] puma creeper are notation for the n(-l)/Z-vector of Creating Z1 through 1 4 , which are constants of the mecha- nism, leads to a reduction from 35 to 3 multiplications and from[aq]velocity products and the n-vectorof squared velocities. and 18 to 3 additions. Computing the constant Z1 involves 18 calcu- lations. Since the simple parameters required for the calculation[ q 2 ] are given by: of 11 are the input to the RNE.

And reduction of these expressions with four relations that hold on these partial derivatives.  J -- ,p',jj (5) 4. Formation of the needed partial derivatives, expansion of where (qk * rihanna fenty puma it) is the j t h velocity product in the [q4]vector, and the Coriolis and centrifugal matrix elements in terms of the derivatives, and simplification by combining is the Christoffel symbol. inertia constants as in 2. rihanna puma shoes The number of unique non-zero Christoffel symbols required The first step was carried out with a LISP program.

The kinetic energy ma- The reduction of Equation (7) arises from the symmetry oftrix elements are simplified by combining inertia constants that the kineticenergymatrix.Equation (8) obtains because the ki-multiply common variable expressions. This is the greatest source netic energy imparted by the velocity of a joint is independent ofof computational efficiency. Looking to the dynamic puma by rihanna creeper model of a 3 theconfiguration of thepriorjoints.Equation (9) resultsfromdof manipulator presented in [Murry and Neuman 19841.

Of gravity and the terms of the inertia dyadic.Thewrist,link where I I = M-wg2 ** r12three and link two of a PUMA 560 arm were detached in order Mgto measure these parameters. The mass of each component was r is theinertiaabouthe axis of rotation;determined with a beam balance; the cenotfergravity was located is the weight of the link;by balancing each link on a knife edge, once orthogonal to each w is thdeistance fromeacshuspensionaxis;

So the total Measurement of the Motor and Drive Inertiamotor and drive contribution ateach joint was determined by anidentification method. This contribution is considered separately A parameter identificationmethod was used fenty puma creepers t o learnthefrom the I,, term of the link itself because the motor and drive totalrotationalinertiaateachjoint.Thisinertiaincludes t,heinertia seen through the reduction gear does not contribute to the effective motor and drive inertia and the contribution due .

To obtain the inertialterms, the wrist links were modeled as thin shells. A tolerance for each direct measurement was established as the measurement was taken.ThetolerancevaluesarederivedMeasurement of Rotational Inertia from the precision or smallestgraduation of the measuring in- strument used, or from the repeatability of the measurement it- The two wire suspension shown in Figure1 was used to mea- self. Thetolerancesarereportedwhere the data are presented.