COMMENT ⊗   VALID 00003 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	LINK INERTIAL VALUES FOR THE BLUE ARM
C00004 00003	PARAMETERS IN SIMPLIFIED STATE EQUATIONS FOR INERTIA AND GRAVITY LOADS.
C00007 ENDMK
C⊗;
;LINK INERTIAL VALUES FOR THE BLUE ARM
;
; LINK    MASS     X       Y       Z      I(XX)      I(YY)      I(ZZ)
;    [OZ-MSEC↑2/IN]     [INCHES]                [OZ-IN-MSEC↑2]
;
;   1  513610.0    0       0     -1.69              5.494@6
;   2  259780.0    0     -4.28   -1.67  9.6329@6   2.0459@6   7.7522@6
;   3  208500.0    0       0     -20.4  7.9694@7   7.9694@7    39167.0
;   4  101390.0    0       0     1.323  633330.0   174440.0   505560.0
;   5   40278.0    0       0      2.82  428330.0   402780.0    37778.0
;   6   31194.0    0       0     -3.09  392000.0   366830.0    36472.0
;
;INPUT SHAFT INERTIAS IN [OZ-IN-MILLISECONDS**2]:
;
; LINK     INERTIA
;
;   1      9.3333@7
;   2      2.3839@8
;   3      694440.0	(NOT USED IN BEJCZY EQUATIONS)
;   4      2.8944@6
;   5      2.8944@6
;   6      694440.0
;
;THE FORCE OF GRAVITY IS TAKEN TO BE:
;
;	G = 3.8592*10@-4 OZ-MILLISECONDS**2/INCHES
;
;GEOMETRICAL PARAMETERS:
;
;   R2=6.05
;   R6=9.38 (YELLOW),  R6=9.425 (BLUE)
;PARAMETERS IN SIMPLIFIED STATE EQUATIONS FOR INERTIA AND GRAVITY LOADS.
;ALL VALUES ARE FOR THE CASE OF NO LOAD BEING HELD IN THE HAND.

;BB1:	  B1  = INPUT INERTIA 1 + I(1YY) + 2M(2)Y(2)R(2)
;	     	+ (M(2)+M(3)+M(4)+M(5))R(2)**2 + .5( I(2XX) + I(2ZZ) )
;BB2:	  B2  = I(3YY)         
;BB3:	  B3  = 2( M(3)Z(3) - M(4)Y(4) )
;BB4:	  B4  = M(3) + M(4) + M(5) + M(6)
;BB5:	  B5  = 2M(5)Z(5) + 2M(6)*( Z(6) + R(6) )
;BB13:	  B13 = INPUT INERTIA 2 + I(2YY) + I(3XX)
;BB14:	  B14 = INPUT INERTIA 4 + I(4YY)
;BB15:	  B15 = I(5XX) + I(6XX) + M(6)R(6)*( R(6) + 2Z(6) )
;BB1718:  B17 + B18 = INPUT INERTIA 5 + I(5YY) + I(6XX)
;	              + M(6)R(6)* ( 2Z(6) + R(6) )
;BB1920:  B19 + B20 = INPUT INERTIA 6 + I(6ZZ)
;BD1:	  D1  = M(2)Z(2) + M(3)Z(3) - M(4)Y(4)
;GG:	  G   = ACCELERATION DUE TO GRAVITY
;NGG:	  -G
;BGD2:	  G*D2= G*( BB4 )
;BMGD3:	  -G*D3=-G*( .5BB5 )
;BR6Z6:   2*( R(6) + Z(6) )
;BR62Z6:  R(6)*( R(6) + 2Z(6) )


FP BB1,	   46735,177416	; .1163900@9  
FP BB2,	   46630,   426	; .7969400@8  
FP BB3,	  146001,146660	;-8506800.    
FP BB4,	   44672, 33000	; 381360.0    
FP BB5,	   45027,172000	; 622400.0    
FP BB13,   47230,123137	; .3201300@9  
FP BB14,   45473, 47000	; 3068800.    
FP BB15,   45330,115000	; 1774400.    
FP BB1718, 45615,131400	; 4643200.    
FP BB1920, 45062, 70740	; 730910.0    
FP BD1,	  145617,  5300	;-4687200.    
FP GG,	   35312, 52516	; .3859200@-3 
FP NGG,	  135312, 52516	;-.3859200@-3 
FP BGD2,   42023, 27025	; 147.1800    
FP BMGD3, 141760, 31463	;-120.1000    
FP BR6Z6,  41112,134122	; 12.67000    
FP BR62Z6, 41364,126010	; 30.58400