Sightings of the British "Beast of

puma alife Bodmin Moor" apparently ceased after the skull of an Indian black panther was found near where a big cat apparently slew numerous sheep over the past several years. However, the apparent presence of a puma who mauled both a heifer and a dog in the Foret de Chize, France, in mid-May obliged the Prefecture des Deux-Svres to close the 13,000-acre forest to foot traffic. There is a zoo of about 600 animals in nearby Villiers-en-Bois, but no zoo cats have been reported missing.

The Explicit Dynamic Model and Inertial Parameters of the PUMA 566 A m t Brian Armstrong, Oussama Khatib, Joel Burdick Stanford Artificial Intelligence Laboratory Stanford UniversityAbstract size of the models generated by these programs varieswidely; and there is little consensus on the question of whether the explicit To provide COSMOS, a dynamic model baaed

puma athletic shoes manipulator models can be made sufficiently compact to be used for control.

Severalauthorshaveproposed and simulated the use ofRNE in control systems [Luh, Walker and Paul 1980b; Kim andShin 19851; and [Valavanis,Leahy and Sardsi 19851have used theRNE to control a PUMA - 600 arm. The RNE algorithm has alsofound

puma basket black 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.

Partial support was provided by NSF under contract MEA80-19628, and by DARPA through the Intelligent Task Automa-tionProject,managedby'eheAir Force MaterialsLaboratory,under a subcontract to HoneywelI, contract F 33615-82-C-5092. 510CH2282-2/86/0000/0510)T;o1.0010986 E E Ewhere A(q) is the n X

puma basket bow n kineticenergymatrix; a l l = 11 12 coa2(82) 13 cos(82)co8(82 63) (3) B(q) is the n x n(n-1)/2matrix of Coriolistorques; z4 cos2(e2 03) C(q) is the n x n matrix of centrifugaltorques; Calculations required: 3 multiplications, 3 additions. g(q) is then-vector of gravitytorques; q is thne-vector of accelerations; where ZI.= d i m 3 dZm3 2 d2d3m3 dgm2 J3yy J3== is the generalizedjoint force vector. r J2== Jzyv Jlzr Jizz; etc.

The symbols [ q q ] and [q"] 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, theRNE will effectively carry out The procedure used to derive the dynamimc odel entails four the calculation of Z1 on every pass, producing considerable m-steps: necessary computation.

J -- ,p',jj (5) 4. Formation

puma basket heart black of the needed partial derivatives, expansion of where (qk * 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. The number of unique non-zero Christoffel symbols required The first step was carried out with a LISP program, named by the PUMA model can be reduced from 126 to 39 with fourEMDEG, which symbolically generates the dynamic model of an equations thathold on the

derivatives of the kinetic energy matrixarticulatedmechanism.EMDEGemploys Kane's dynamic for- elements.

Sightings of the British "Beast of [url=http://www.agentbures.com/puma-c-1/puma-alife-c-1_131/]puma alife[/url] Bodmin Moor" apparently ceased after the skull of an Indian black panther was found near where a big cat apparently slew numerous sheep over the past several years. However, the apparent presence of a puma who mauled both a heifer and a dog in the Foret de Chize, France, in mid-May obliged the Prefecture des Deux-Svres to close the 13,000-acre forest to foot traffic. There is a zoo of about 600 animals in nearby Villiers-en-Bois, but no zoo cats have been reported missing.

The Explicit Dynamic Model and Inertial Parameters of the PUMA 566 A m t Brian Armstrong, Oussama Khatib, Joel Burdick Stanford Artificial Intelligence Laboratory Stanford UniversityAbstract size of the models generated by these programs varieswidely; and there is little consensus on the question of whether the explicit To provide COSMOS, a dynamic model baaed [url=http://www.agentbures.com/puma-c-1/puma-athletic-shoes-c-1_114/]puma athletic shoes[/url] manipulator models can be made sufficiently compact to be used for control.

Severalauthorshaveproposed and simulated the use ofRNE in control systems [Luh, Walker and Paul 1980b; Kim andShin 19851; and [Valavanis,Leahy and Sardsi 19851have used theRNE to control a PUMA - 600 arm. The RNE algorithm has alsofound [url=http://www.agentbures.com/puma-c-1/puma-basket-black-c-1_146/]puma basket black[/url] 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.

Partial support was provided by NSF under contract MEA80-19628, and by DARPA through the Intelligent Task Automa-tionProject,managedby'eheAir Force MaterialsLaboratory,under a subcontract to HoneywelI, contract F 33615-82-C-5092. 510CH2282-2/86/0000/0510)T;o1.0010986 E E Ewhere A(q) is the n X [url=http://www.agentbures.com/puma-c-1/puma-basket-bow-c-1_154/]puma basket bow[/url] n kineticenergymatrix; a l l = 11 12 coa2(82) 13 cos(82)co8(82 63) (3) B(q) is the n x n(n-1)/2matrix of Coriolistorques; z4 cos2(e2 03) C(q) is the n x n matrix of centrifugaltorques; Calculations required: 3 multiplications, 3 additions. g(q) is then-vector of gravitytorques; q is thne-vector of accelerations; where ZI.= d i m 3 dZm3 2 d2d3m3 dgm2 J3yy J3== is the generalizedjoint force vector. r J2== Jzyv Jlzr Jizz; etc.

The symbols [ q q ] and [q"] 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, theRNE will effectively carry out The procedure used to derive the dynamimc odel entails four the calculation of Z1 on every pass, producing considerable m-steps: necessary computation.

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