{"id":"https://openalex.org/W4200577393","doi":"https://doi.org/10.53996/2770-4122.jrme.1000102","title":"Numerical Simulation of Inertia Matrix for 6 DoF Industrial Robot","display_name":"Numerical Simulation of Inertia Matrix for 6 DoF Industrial Robot","publication_year":2021,"publication_date":"2021-10-01","ids":{"openalex":"https://openalex.org/W4200577393","doi":"https://doi.org/10.53996/2770-4122.jrme.1000102"},"language":"en","primary_location":{"id":"doi:10.53996/2770-4122.jrme.1000102","doi":"https://doi.org/10.53996/2770-4122.jrme.1000102","is_oa":true,"landing_page_url":"https://doi.org/10.53996/2770-4122.jrme.1000102","pdf_url":null,"source":{"id":"https://openalex.org/S4210236165","display_name":"Journal of Robotics and Mechanical Engineering Research","issn_l":"2059-4909","issn":["2059-4909","2770-4122"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechanical Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.53996/2770-4122.jrme.1000102","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021647212","display_name":"Jelena Z. Vidakovi\u0107","orcid":"https://orcid.org/0000-0002-3363-8807","observed_orcids":["https://orcid.org/0000-0002-3363-8807"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jelena Vidakovic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002756982","display_name":"V. Kvrgi\u0107","orcid":"https://orcid.org/0000-0003-3527-9892","observed_orcids":["https://orcid.org/0000-0003-3527-9892"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vladimir Kvrgic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033857010","display_name":"P. Stepani\u0107","orcid":"https://orcid.org/0000-0002-6992-0900","observed_orcids":["https://orcid.org/0000-0002-6992-0900"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pavle Stepanic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0008999999845400453,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/6-dof-industrial-robot","display_name":"6-DOF industrial robot","score":0.8529999852180481},{"id":"https://openalex.org/keywords/robot-dynamics","display_name":"robot dynamics","score":0.7039999961853027},{"id":"https://openalex.org/keywords/effective-inertia","display_name":"effective inertia","score":0.7020000219345093},{"id":"https://openalex.org/keywords/cross-coupling-effects","display_name":"cross-coupling effects","score":0.9459999799728394},{"id":"https://openalex.org/keywords/robot-trajectory","display_name":"robot trajectory","score":0.6579999923706055},{"id":"https://openalex.org/keywords/revolute-joints","display_name":"revolute joints","score":0.8410000205039978},{"id":"https://openalex.org/keywords/robot-control","display_name":"robot control","score":0.5170000195503235}],"concepts":[{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.7384873032569885},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6612474918365479},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.6142139434814453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6128039956092834},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.6105956435203552},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.6051009893417358},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5719255805015564},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5192737579345703},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4613480865955353},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4452826678752899},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4197685122489929},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.4188041687011719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41520750522613525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39428865909576416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3715718984603882},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3365284204483032},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3066513240337372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20489740371704102},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1401871144771576},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11177095770835876},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.099101722240448},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07732585072517395},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.054813891649246216},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.53996/2770-4122.jrme.1000102","doi":"https://doi.org/10.53996/2770-4122.jrme.1000102","is_oa":true,"landing_page_url":"https://doi.org/10.53996/2770-4122.jrme.1000102","pdf_url":null,"source":{"id":"https://openalex.org/S4210236165","display_name":"Journal of Robotics and Mechanical Engineering Research","issn_l":"2059-4909","issn":["2059-4909","2770-4122"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechanical Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.53996/2770-4122.jrme.1000102","doi":"https://doi.org/10.53996/2770-4122.jrme.1000102","is_oa":true,"landing_page_url":"https://doi.org/10.53996/2770-4122.jrme.1000102","pdf_url":null,"source":{"id":"https://openalex.org/S4210236165","display_name":"Journal of Robotics and Mechanical Engineering Research","issn_l":"2059-4909","issn":["2059-4909","2770-4122"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechanical Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4252794441","https://openalex.org/W1977764543","https://openalex.org/W2139011240","https://openalex.org/W2005179128","https://openalex.org/W2084891258","https://openalex.org/W2909095074","https://openalex.org/W4225491259","https://openalex.org/W1992086075","https://openalex.org/W1992751964","https://openalex.org/W142172116"],"abstract_inverted_index":{"The":[0],"robot":[1,12,19,31,45,55,90,106,113,121,149],"dynamic":[2],"model":[3,123],"is":[4,78,100,117],"essential":[5],"for":[6,88,102,110],"the":[7,30,40,49,62,111,120,133,148],"precision":[8],"and":[9,16,67,140,142],"reliability":[10],"of":[11,26,33,48,54,64,73,84,97,137,144],"design,":[13],"motion":[14,74],"control,":[15],"simulation.":[17],"A":[18],"inertia":[20,50,85,98,150],"matrix,":[21],"whose":[22],"elements":[23,47,87],"are":[24,52,152],"coefficients":[25],"joint":[27,58],"accelerations":[28],"within":[29],"equations":[32],"motion,":[34,46],"plays":[35],"an":[36,70],"important":[37],"role":[38],"in":[39,147],"robot\u2019s":[41],"control":[42,75],"design.":[43],"During":[44],"matrix":[51,86,99,116,151],"functions":[53],"configuration":[56],"(robot":[57],"positions).":[59],"To":[60],"facilitate":[61],"development":[63],"process":[65],"models":[66],"to":[68,80],"make":[69],"appropriate":[71],"selection":[72],"algorithms,":[76],"it":[77],"useful":[79],"perform":[81],"numerical":[82,95],"simulations":[83],"different":[89],"trajectories.":[91],"In":[92],"this":[93],"paper,":[94],"simulation":[96],"presented":[101,134],"6":[103],"DoF":[104],"industrial":[105],"with":[107],"revolute":[108],"joints":[109],"programmed":[112],"motion.":[114],"Inertia":[115],"obtained":[118],"from":[119],"dynamical":[122],"developed":[124],"by":[125],"using":[126],"modified":[127],"recursive":[128],"Newton-Euler":[129],"algorithm.":[130],"Based":[131],"on":[132],"simulations,":[135],"variation":[136,143],"effective":[138],"inertias":[139],"magnitude":[141],"cross-coupling":[145],"effects":[146],"examined.":[153]},"counts_by_year":[],"updated_date":"2026-09-22T06:50:58.402377","created_date":"2021-12-31T00:00:00"}
