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[Abigail Jenny]

ÿþthat they  do in 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.

Sightings of the British "Beast of 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 manipulator models can be made sufficiently compact to be used for control.

A aim- As we show, explicit dynamic models of manipulators thatplijied model, 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 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 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 Calculationsulatorshasbeenhamperedbecausethemodelsare difficult to Recursive Newton-Eulerderive andcomputationally expensive, and because the needed Evaluation of the Full 1560 Explicit PUMA Model 1165parameters of the manipulator are generally unavailable. Recur- 305 Evaluation of t,he Abbreviatedsive methods for computing the dynamic forces have been avail- Explicit PUMA Modelableforseveralyears[Luh, Walker and Paul 1980a;Hollerbach19801.

that the kinetic energy matrix element a11 is given by: Andequation (10) holdsbecausethesecond a d third axes of a11 = J322 c o s 2 ( & 83) J a Y y sin2(82 83) JzZr &m3 thePUMAarmareparallel. Of the reductionfrom 126 to 39 2 kf3za" cos(82)cos(82 d 3 ) uzm3 cos2(e2) unique Christoffel symbols, 61 eliminations are obtained with the 2 Mzza3 cos"(82 03) a$m3 c0s2(82 83) general equations, 14 more with (9)and a further 12 with (10). $2 a2a3m3 eos(Bz)<�oos(82 6 3) JpYy sin"(62) (2) Step four requires differentiating the mass matrix elements withrespect to the configurationvariables.