{"id":"https://openalex.org/W2051669066","doi":"https://doi.org/10.1177/02783640022066996","title":"Verification of the Positive Definiteness of the Inertial Matrix of Manipulators Using Base Inertial Parameters","display_name":"Verification of the Positive Definiteness of the Inertial Matrix of Manipulators Using Base Inertial Parameters","publication_year":2000,"publication_date":"2000-05-01","ids":{"openalex":"https://openalex.org/W2051669066","doi":"https://doi.org/10.1177/02783640022066996","mag":"2051669066"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066996","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066996","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5041990929","display_name":"K\u014dji Yoshida","orcid":"https://orcid.org/0000-0003-1841-8117"},"institutions":[{"id":"https://openalex.org/I193620225","display_name":"Okayama Prefectural University","ror":"https://ror.org/038bgk418","country_code":"JP","type":"education","lineage":["https://openalex.org/I193620225"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Koji Yoshida","raw_affiliation_strings":["Department of Systems Engineering, Okayama Prefectural University, 111,                         Kuboki, Soja, Okayama 719-1197, Japan","Department of Systems Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama, 719-1197, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Okayama Prefectural University, 111,                         Kuboki, Soja, Okayama 719-1197, Japan","institution_ids":["https://openalex.org/I193620225"]},{"raw_affiliation_string":"Department of Systems Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama, 719-1197, Japan","institution_ids":["https://openalex.org/I193620225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109833895","display_name":"Wisama Khalil","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Wisama Khalil","raw_affiliation_strings":["Institut de Recherche en Cybern\u00e9tique de Nantes,                         \u00c9cole Centrale de Nantes, 1, rue de la NoR e, B.P. 92101, 44321                         Nantes, Cedex 03, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Cybern\u00e9tique de Nantes,                         \u00c9cole Centrale de Nantes, 1, rue de la NoR e, B.P. 92101, 44321                         Nantes, Cedex 03, France","institution_ids":["https://openalex.org/I100445878"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041990929","https://openalex.org/A5109833895"],"corresponding_institution_ids":["https://openalex.org/I100445878","https://openalex.org/I193620225"],"apc_list":null,"apc_paid":null,"fwci":0.9973,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.79805335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"5","first_page":"498","last_page":"510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.998199999332428,"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":0.9965999722480774,"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/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.7678117752075195},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.6943817734718323},{"id":"https://openalex.org/keywords/positive-definiteness","display_name":"Positive definiteness","score":0.571374237537384},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.5477709770202637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5435215830802917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5428782105445862},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5360005497932434},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5214440226554871},{"id":"https://openalex.org/keywords/positive-definite-matrix","display_name":"Positive-definite matrix","score":0.4345622956752777},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.4291994571685791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38115254044532776},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.27035871148109436},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21969223022460938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19118842482566833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18100106716156006},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.17694616317749023},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12352317571640015},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09954056143760681},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.08306044340133667}],"concepts":[{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.7678117752075195},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.6943817734718323},{"id":"https://openalex.org/C2778265155","wikidata":"https://www.wikidata.org/wiki/Q7233276","display_name":"Positive definiteness","level":4,"score":0.571374237537384},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.5477709770202637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5435215830802917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5428782105445862},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5360005497932434},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5214440226554871},{"id":"https://openalex.org/C49712288","wikidata":"https://www.wikidata.org/wiki/Q77601250","display_name":"Positive-definite matrix","level":3,"score":0.4345622956752777},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.4291994571685791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38115254044532776},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.27035871148109436},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21969223022460938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19118842482566833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18100106716156006},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.17694616317749023},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12352317571640015},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09954056143760681},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.08306044340133667},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640022066996","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066996","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323289","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W105944714","https://openalex.org/W1861670579","https://openalex.org/W1992896705","https://openalex.org/W2001524797","https://openalex.org/W2018911853","https://openalex.org/W2049415760","https://openalex.org/W2055308405","https://openalex.org/W2063370341","https://openalex.org/W2102642497","https://openalex.org/W2104417484","https://openalex.org/W2118334327","https://openalex.org/W2121501130","https://openalex.org/W2122106008","https://openalex.org/W2124155734","https://openalex.org/W2132965727","https://openalex.org/W2152546852","https://openalex.org/W2327273668","https://openalex.org/W2677257205","https://openalex.org/W4240806010"],"related_works":["https://openalex.org/W2369793817","https://openalex.org/W2364489971","https://openalex.org/W2361979571","https://openalex.org/W3208377712","https://openalex.org/W2043819621","https://openalex.org/W2063005030","https://openalex.org/W2147922812","https://openalex.org/W4205226845","https://openalex.org/W2373372131","https://openalex.org/W1982955687"],"abstract_inverted_index":{"The":[0,33],"computation":[1],"of":[2,6,14,27,35,41,44,55,77,96,120,127,131,139,145,157],"the":[3,36,42,75,88,110,121,132,135,161],"inertial":[4,111,129,162],"matrix":[5,112,163],"dynamic":[7],"model":[8],"for":[9,22,101,109,117],"manipulator":[10,122],"using":[11],"some":[12,23],"sets":[13,26],"base-parameter":[15,28,45,56,78,158],"values":[16,29,46,79,159],"may":[17],"be":[18,48,84,114,165],"not":[19,71],"positive":[20,115,167],"definite":[21,116,168],"configurations.":[24],"Such":[25],"are":[30,59],"physically":[31,68,85],"impossible.":[32,86],"result":[34,89],"study":[37],"on":[38],"physical":[39,128],"impossibility":[40],"set":[43,54,76,144,156],"could":[47],"used":[49],"to":[50,73,83,93,113,152,164],"judge":[51,153],"if":[52,154],"a":[53,106,143,148,155],"values,":[57],"which":[58],"obtained":[60],"through":[61],"parameter":[62],"identification":[63],"or":[64,70,98,169],"other":[65],"methods,":[66],"is":[67,123,150],"impossible":[69],"and":[72,142],"modify":[74],"that":[80],"was":[81],"judged":[82],"Hence,":[87],"would":[90],"directly":[91],"contribute":[92],"model-based":[94],"control":[95],"manipulators":[97],"motion":[99],"simulation":[100],"manipulators.":[102],"In":[103],"this":[104,140],"paper,":[105],"sufficient":[107],"condition":[108,141],"each":[118],"configuration":[119],"given":[124,151],"by":[125],"use":[126,138],"parameters":[130],"links":[133],"composing":[134],"manipulator.":[136],"By":[137],"\u201cvirtual":[146],"parameters,\u201d":[147],"scheme":[149],"determine":[160],"always":[166],"not.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
