..::IX Liceum Ogólnokształcące im. Henryka Sienkiewicza::..

[Oscar Woolf]

And there puma shoes for men is little consensus on the question of whether the explicit To provide COSMOS, a dynamic model baaed manipulator models can be made sufficiently compact to be used for control.control system, with an improved dynamic model, a PUMA 560 Aldon and Likgeois [1984] present an algorithm for obtaining ef-arm waadiaaaaembled; the inertial propertiea of the individual ficient dynamicmodels; but none-the-lessrecomend the use oflinks were meaaured;

Abbreviatedfromthe full ezplicit model with a 1% are more computationally efficient than the alternative recursiveaignijicance criterion, can be evaluated with 305 calculationa, one algorithms can be obtained. The computational cost of the RNEfifth the numberrequiredby the puma golf shoes recuraive Newton-Euler method. algorithm, the full explicit PUMA model, and the explicit PWMATheprocedure used to derive the model i a laid out;

The meaaured model abbreviated with a 1%significance criterion are presentedinertial parametera are puma running shoes preaented, and the model ia included in an in Table 1. The method presented here for factoring the dynamicappendiz. equations has yielded a dynamic model of the PUMA 560 arm1. I n t r o d u c t i o n Table 1. CalculationsRequired to Compute the Forces of Motion by 3 Methods.The Implementation of dynamic control systems for manip- Method difficult to Recursive Newton-Eulerderive andcomputationally puma roma expensive.

Kim andShin 19851; and [Valavanis,Leahy and Sardsi 19851have used theRNE to control a PUMA - 600 arm. The RNE algorithm has alsofound use in the computation of forward dynamics for simulation that requires 1165 calculations(739multiplicationsand 426 ad- ditions), 25% fewer than the 1560 calculations required by the 6[Walker and Orin 1982; Koozekananiet al. 19831, andnominal dof RNE. With the application of a 1% sensitivity criterion.

The explicit model can be evaluated with one fifth the count of cal-trajectorycontrol [VukobratoviE andKirfanski 19841. TheRNE culations required byt.he recursive algorithm. Furthermore, this formulation of the explicit model is not optimally compact; fac-meets the need for calculation of dynamic puma clyde forcesin theseapplica- torizations that were discovered and employed during the model derivation have been expanded out to present explicit expressionstions.

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, theRNE will effectively carry out The procedure used to derive the dynamimc [img]http://www.czcrush.com/images/detail/puma clyde-511vtm.jpg[/img] odel entails four the calculation of Z1 on every pass.

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