Two new eunicellin-type diterpenoids, litophynols A [1] and B [2], and the known diterpenoids litophynins E [3], H [11], and I monoacetate [12], were isolated from the mucus secreted by the soft coral Litophyton sp. Their structures have been elucidated on the basis of spectral and single crystal X-ray analyses. These compounds have hemolytic activity.
Two identification methods; "stepby-step method" and "simultaneous method" which takes advantage of the instrumental variable method are experimentary examined to estimate the parameters of the dynamic model of the PUMA 560. To evaluate the accuracy of the estimates we compare simulated trajectories with measured trajectory. It can be concluded that the two methods are neary same precise way to estimate the model parameters.Applying the results in [2] for this PUMA 560, we obtain following base parameter set consists of 36 inertial parameters.
J l z =Jz + J; + Jg + 21;Rg, 52% = J 2 , ! z J 2 x z = J;' -l;Rg, J3.z = JS + J!, R 3 x = RZ, J 4 s = JZ + JE, a x = RZ, J 5 z = J$ + Jg, R 5 x = R f , J 6 s = J ; , J 6 x s = J;", J 2 ( xy ) = JZ -J;, J 2 y x = Jyz, J 3 ( xy ) = Jg -Jg + Jy R 3 y = Ri -RZ, J 2 x y = Jxy 2 ' R a x = RZ, J 3 x z = J;", J 3 y z = 3 y , J 4 x s = JZ", J4y.z
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