We present a method for the computation of the effective inertia, coupling inertia, and gravity loading terms for a manipulator with a load. The calculations are separated so as to consider the manipulator and the load independently. These inertial and gravity loading effects are additive and furthermore their computation need only be performed at a rate commensurate with changes in the configuration of the manipulator, not at the control sample rate. As an example we compute the terms for the PUMA manipulator. Taking advantage of the symmetries in the manipulator we need only 65 multiplications and 41 additions to compute all terms. The computations for a load requires an additional 160 multiplications and 101 additions if the load is considered as a point mass.
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机译:用等离子体约束实现重力场的动态控制热核聚变(TLTS)方法,通过热辐射等离子体绝缘的壁反应堆防止中子辐射并节省磁场和等离子体的混合,使用旋转磁场的异步磁惯性约束反应堆(AMITYAR和HFM)为实施该方法,在该反应器中点燃热核反应的方法,爆炸式等离子发生器(VIP)的实施方法,以及具有HFM的特立普安瓿,以实现D + T反应和具有超高温热度的HFM D +3НЕ和1Н+11В的高温反应