{"id":"https://openalex.org/W1974141195","doi":"https://doi.org/10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y","title":"Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters","display_name":"Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters","publication_year":1999,"publication_date":"1999-12-01","ids":{"openalex":"https://openalex.org/W1974141195","doi":"https://doi.org/10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y","mag":"1974141195"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y","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/A5111904335","display_name":"Shir\u2010Kuan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shir-Kuan Lin","raw_affiliation_strings":["Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu 30050, Taiwan, Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu 30050, Taiwan, Republic of China","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082643011","display_name":"Chang-Jia Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chang-Jia Fang","raw_affiliation_strings":["Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu 30050, Taiwan, Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu 30050, Taiwan, Republic of China","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111904335"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.11213293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":"12","first_page":"679","last_page":"695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9968000054359436,"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/inertia","display_name":"Inertia","score":0.8980234861373901},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.7650282382965088},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.7434824109077454},{"id":"https://openalex.org/keywords/eulers-equations","display_name":"Euler's equations","score":0.650658905506134},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6356271505355835},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.6060784459114075},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4779500961303711},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4316328465938568},{"id":"https://openalex.org/keywords/rotary-inertia","display_name":"Rotary inertia","score":0.4273974299430847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3674498200416565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3557613492012024},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.15060117840766907},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1255161464214325},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11847898364067078},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.06287923455238342}],"concepts":[{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.8980234861373901},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.7650282382965088},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.7434824109077454},{"id":"https://openalex.org/C137942517","wikidata":"https://www.wikidata.org/wiki/Q996383","display_name":"Euler's equations","level":4,"score":0.650658905506134},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6356271505355835},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.6060784459114075},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4779500961303711},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4316328465938568},{"id":"https://openalex.org/C146996283","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Rotary inertia","level":3,"score":0.4273974299430847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3674498200416565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3557613492012024},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.15060117840766907},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1255161464214325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11847898364067078},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.06287923455238342},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/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(199912)16:12<679::aid-rob2>3.0.co;2-y","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199912)16:12<679::aid-rob2>3.0.co;2-y","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":24,"referenced_works":["https://openalex.org/W38834071","https://openalex.org/W105944714","https://openalex.org/W139131351","https://openalex.org/W1967150691","https://openalex.org/W1971547422","https://openalex.org/W1973444737","https://openalex.org/W2001524797","https://openalex.org/W2004609114","https://openalex.org/W2005179128","https://openalex.org/W2018911853","https://openalex.org/W2033409529","https://openalex.org/W2062691475","https://openalex.org/W2066753350","https://openalex.org/W2096593056","https://openalex.org/W2100300790","https://openalex.org/W2102642497","https://openalex.org/W2118334327","https://openalex.org/W2121501130","https://openalex.org/W2132965727","https://openalex.org/W2148426443","https://openalex.org/W2152546852","https://openalex.org/W2154791516","https://openalex.org/W2708360849","https://openalex.org/W4240806010"],"related_works":["https://openalex.org/W2351506969","https://openalex.org/W1992246460","https://openalex.org/W4379743905","https://openalex.org/W2045306768","https://openalex.org/W2384720467","https://openalex.org/W2072117902","https://openalex.org/W2366076529","https://openalex.org/W1974141195","https://openalex.org/W1968954906","https://openalex.org/W2358227862"],"abstract_inverted_index":{"This":[0,48,62],"article":[1],"summarizes":[2],"four":[3],"formulations":[4,28,124],"of":[5,14,38,44,67,71,75,84,104,149],"the":[6,11,18,31,35,42,45,76,93,97,101,111,114,117,122,126,133,139,142],"composite":[7,39,105],"body":[8],"method":[9],"for":[10,54,96,125],"inertia":[12,36,60,72,78,102,127],"matrix":[13,128],"a":[15,23,65,82,160],"manipulator":[16,161],"in":[17,113,141],"earlier":[19],"works":[20],"and":[21,34,59,100,155],"presents":[22,51],"new":[24,94,145],"formulation.":[25],"These":[26],"five":[27,123],"all":[29],"use":[30],"first":[32,57,98],"moments":[33,58,99],"tensors":[37,103],"bodies":[40,106],"about":[41],"origin":[43],"local":[46],"frame.":[47],"paper":[49],"also":[50],"an":[52],"algorithm":[53,63,95],"computing":[55],"these":[56,150],"tensors.":[61],"utilizes":[64],"set":[66],"minimal":[68],"linear":[69],"combinations":[70],"parameters":[73],"instead":[74],"natural":[77],"parameters,":[79],"so":[80],"that":[81,92],"number":[83],"redundant":[85],"computations":[86],"are":[87,129],"saved.":[88],"It":[89],"is":[90,107,147,156],"found":[91],"computationally":[108],"superior":[109],"to":[110,159],"others":[112,140],"literature.":[115,143],"On":[116],"other":[118,134],"hand,":[119],"two":[120,151],"among":[121],"more":[130],"efficient":[131,153],"than":[132],"three":[135],"as":[136,138],"well":[137],"The":[144],"formulation":[146],"one":[148],"most":[152],"formulations,":[154],"specially":[157],"adequate":[158],"with":[162],"some":[163],"translational":[164],"joints.":[165],"\u00a91999":[166],"John":[167],"Wiley":[168],"&":[169],"Sons,":[170],"Inc.":[171]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
