{"id":"https://openalex.org/W2005179128","doi":"https://doi.org/10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","title":"An efficient algorithm for generating manipulator inertia matrix using the minimum set of dynamics parameters","display_name":"An efficient algorithm for generating manipulator inertia matrix using the minimum set of dynamics parameters","publication_year":1996,"publication_date":"1996-05-01","ids":{"openalex":"https://openalex.org/W2005179128","doi":"https://doi.org/10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","mag":"2005179128"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084701980","display_name":"Haruhisa Kawasaki","orcid":"https://orcid.org/0000-0002-9445-3320"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Haruhisa Kawasaki","raw_affiliation_strings":["Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-11 Japan","Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-11, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-11 Japan","institution_ids":["https://openalex.org/I42405503"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-11, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026663861","display_name":"Atushi Murata","orcid":null},"institutions":[{"id":"https://openalex.org/I125852741","display_name":"Kanazawa Institute of Technology","ror":"https://ror.org/02ws33e43","country_code":"JP","type":"education","lineage":["https://openalex.org/I125852741"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atushi Murata","raw_affiliation_strings":["Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South Ishikawa, 921 Japan","Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7\u20101 Ohgigaoka, Nonoichi, Kanazawa\u2010South Ishikawa, 921 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South Ishikawa, 921 Japan","institution_ids":["https://openalex.org/I125852741"]},{"raw_affiliation_string":"Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7\u20101 Ohgigaoka, Nonoichi, Kanazawa\u2010South Ishikawa, 921 Japan","institution_ids":["https://openalex.org/I125852741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077322567","display_name":"Kazuo Kanzaki","orcid":null},"institutions":[{"id":"https://openalex.org/I125852741","display_name":"Kanazawa Institute of Technology","ror":"https://ror.org/02ws33e43","country_code":"JP","type":"education","lineage":["https://openalex.org/I125852741"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Kanzaki","raw_affiliation_strings":["Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South Ishikawa, 921 Japan","Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7\u20101 Ohgigaoka, Nonoichi, Kanazawa\u2010South Ishikawa, 921 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South Ishikawa, 921 Japan","institution_ids":["https://openalex.org/I125852741"]},{"raw_affiliation_string":"Department of Mechanical System Engineering, Kanazawa Institute of Technology, 7\u20101 Ohgigaoka, Nonoichi, Kanazawa\u2010South Ishikawa, 921 Japan","institution_ids":["https://openalex.org/I125852741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084701980"],"corresponding_institution_ids":["https://openalex.org/I42405503"],"apc_list":null,"apc_paid":null,"fwci":0.79256566,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.70720562,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"5","first_page":"261","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.7722213268280029},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.754502534866333},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.641229510307312},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.635342001914978},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6236155033111572},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.5802377462387085},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5773301124572754},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.5757105350494385},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5255143642425537},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.46619147062301636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45534735918045044},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4444781243801117},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4291324019432068},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4256581664085388},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.41134917736053467},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.20876574516296387},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.15685614943504333},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13967463374137878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13473451137542725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10887280106544495}],"concepts":[{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.7722213268280029},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.754502534866333},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.641229510307312},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.635342001914978},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6236155033111572},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.5802377462387085},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5773301124572754},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.5757105350494385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5255143642425537},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.46619147062301636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45534735918045044},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4444781243801117},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4291324019432068},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4256581664085388},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.41134917736053467},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.20876574516296387},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.15685614943504333},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13967463374137878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13473451137542725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10887280106544495},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199605)13:5<261::aid-rob1>3.0.co;2-o","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1669198989","https://openalex.org/W1966552874","https://openalex.org/W1970673766","https://openalex.org/W1971547422","https://openalex.org/W1973444737","https://openalex.org/W2002038293","https://openalex.org/W2004609114","https://openalex.org/W2039927489","https://openalex.org/W2096593056","https://openalex.org/W2112474089","https://openalex.org/W2113123618","https://openalex.org/W2115093659","https://openalex.org/W2152546852","https://openalex.org/W2154791516","https://openalex.org/W2323801837","https://openalex.org/W2332387696","https://openalex.org/W2541358468","https://openalex.org/W2666033642","https://openalex.org/W4240806010","https://openalex.org/W6642849398","https://openalex.org/W6682482596","https://openalex.org/W6740115900"],"related_works":["https://openalex.org/W2059064092","https://openalex.org/W2163056488","https://openalex.org/W125385977","https://openalex.org/W2185220635","https://openalex.org/W2906467337","https://openalex.org/W2389335729","https://openalex.org/W3188409760","https://openalex.org/W4298263246","https://openalex.org/W4249978488","https://openalex.org/W3101112768"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3,97,130],"efficient":[4,124],"algorithm":[5,19,120],"for":[6,79,126,136],"computing":[7],"the":[8,18,23,27,43,57,62,68,71,80,83,90,105,118,122,132,137,162,166],"inertia":[9,138],"matrix":[10,139],"of":[11,17,26,39,42,49,93,104,134,140,169],"rigid":[12],"serial":[13,127],"manipulators.":[14,128],"The":[15,46,73,101],"derivation":[16],"is":[20,77,96,108,115,121,147],"based":[21,85],"on":[22,32,86],"closed-form":[24],"formulation":[25],"force":[28],"and":[29,70,82,153],"moment":[30],"exerted":[31],"a":[33,36,141],"link":[34],"using":[35,61,165],"minimum":[37,47,91,167],"set":[38,48,92,168],"dynamic":[40,50,59,94,163,170],"parameters":[41,51,60,95],"manipulator":[44,142],"model.":[45],"can":[52],"be":[53],"derived":[54],"completely":[55],"from":[56],"original":[58],"recursive":[63],"re-grouping":[64],"method":[65,76],"before":[66],"starting":[67],"simulation":[69,84],"control.":[72],"proposed":[74,106,119],"computation":[75],"suitable":[78],"control":[81],"parameter":[87,99],"estimates":[88],"because":[89],"identifiable":[98],"set.":[100],"computational":[102],"efficiency":[103],"methods":[107],"compared":[109],"with":[110,143],"other":[111],"published":[112],"methods.":[113],"It":[114],"shown":[116],"that":[117],"most":[123],"approach":[125],"As":[129],"example,":[131],"number":[133],"computations":[135],"n":[144,149,156],"rotational":[145],"joints":[146],"11n2+9":[148],"\u2212":[150,157],"35":[151],"multiplications":[152],"7n2+":[154],"23":[155],"57":[158],"additions":[159],"by":[160],"reformulating":[161],"model":[164],"parameters.":[171],"\u00a9":[172],"1996":[173],"John":[174],"Wiley":[175],"&amp,":[176],"Sons,":[177],"Inc.":[178]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}