Archibald Gray
Dołączył: 11 Sty 2020 Posty: 3

Wysłany: Sob Sty 11, 2020 04:37 Temat postu: puma shoes 


And reduction of these expressions with four relations puma shoes that hold on these partial derivatives. J  ,p',jj (5) 4. Formation 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 nonzero Christoffel symbols required The first step was carried out with a LISP program.
The rigid bodyassumption;link 6 hasbeenassumed to besymmetric, that isI,% = Zyy; and only the mass moments of inertia are considered,that is puma trainers I,,, Zyy and Z z z . The original output of EMDEG, including Coriolisand centrifugal terms, required 15,000 multiplicationsand 3,500 additions. This step might also have been performedwith the momentum theorem method used in [lzaguirre puma suede and Paul19851.In the second step of this procedure.
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 ( obtains because the kimultiply 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 model of a 3 theconfiguration of thepriorjoints.Equation (9) puma sliders resultsfromdof manipulator presented in [Murry and Neuman 19841.
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 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 .
Themotors were mass of thearm. To makethismeasurementourcontrolsysleft installed in linkstwo and three when the inertia of these links tem was configured to command a motor torque proportional towere measured, so the effect of their mass as the puma uk supporting links displacement, effecting a torsional spring. By measuring the pemove is correctly considered. The gyroscopic forces imparted by riod of oscillation of the resultant massspring system, the totalthe rotating motor armatures is neglected in the model.
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. 
