˙žthat they do in al whitle puma sneakers Fairfield County, Connecticut, or Westchester County, New York, they would appear to have colonized under four square miles. If they achieve only the normal habitat density for most of their U.S. kin, they may affect 40 square miles, which if evenly distributed from their escape point would be a radius of about seven miles. The slow and limited spread of a species in which contagious disease spreads at about 50 miles per year in the U.S. suggests that the feral German immigrants actually have only a tenuous hold on survival. England and France have even had homegrown cases of classic PU M A PA N I C.

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

TheRNE culations required byt.he recursive algorithm. Furthermore, this formulation of black and gold puma shoes the explicit model is not optimally compact; fac-meets the need for calculation of dynamic forcesin theseapplica- torizations that were discovered and employed during the model derivation have been expanded out to present explicit expressionstions, but does not offer several advantages available provided by for each component of the dynamic model. Renaud and Burdick both report automatic generation of 6 dof manipulatormodelsan explicitmodel.Theexplicitmodel allows of the calculation that are more compact than that presented here [Renaud 1984; Burdick 19851.

J -- ,p',jj (5) 4. Formation of the needed partial derivatives, expansion of where (qk black puma sandals * 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.

The first two equationsaregeneral;the last two aremulation [Kane 19681, and produced a result comparable in form specific to the PUMA 560. The equations are:and size to that of ARM [Murry and Neuman 1984). Three sirn-plifying assumptions were made for this analysis: the rigid bodyassumption;link 6 hasbeenassumed to besymmetric, that isI,% = Zyy; and only the mass moments of inertia are considered,that is I,,, Zyy and Z z z . The original output of EMDEG, includ-ing Coriolisand centrifugal terms, required 15,000 multiplicationsand 3,500 additions. This step might also have been burgundy puma shoes performedwith the momentum theorem method used in [lzaguirre 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 (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 model of a 3 theconfiguration of thepriorjoints.Equation (9) resultsfromdof manipulator presented in [Murry and Neuman 19841,we see the symmetry of the sixth and terminal link of the PUMA arm.