The rigid bodyassumption;link 6 puma creepers 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 performedwith the momentum theorem method used in [lzaguirre and Paul19851.In the second step of this procedure.

Of gravity and the terms of the inertia dyadic.Thewrist,link where I I = M-wg2 ** r12three and link two of a puma rihanna PUMA 560 arm were detached in order Mgto measure these parameters. The mass of each component was r is theinertiaabouthe axis of rotation;determined with a beam balance; the puma fenty cenotfergravity was located is the weight of the link;by balancing each link on a knife edge, once orthogonal to each w is thdeistance fromeacshuspensionaxis;

And the diagonal terms of the inertia dyadic were measured wire to the axis of rotation;with a two wire suspension. 1 is the oscillatiofnrequency in radians per second;The motor and drive mechanism at puma slides each joint contributes to is thelength of thesupporting wires.the inertia about that joint an amount equal to the inertia of therotating pieces magnified by the gear ratio squared. The drivesand reduction gears were not removed from the links.

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 puma fenty slides 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 .

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.