{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:54Z","timestamp":1777715754095,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2000,5,1]],"date-time":"2000-05-01T00:00:00Z","timestamp":957139200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,5]]},"abstract":"<jats:p>The computation of the inertial matrix of dynamic model for manipulator using some sets of base-parameter values may be not positive definite for some configurations. Such sets of base-parameter values are physically impossible. The result of the study on physical impossibility of the set of base-parameter values could be used to judge if a set of base-parameter values, which are obtained through parameter identification or other methods, is physically impossible or not and to modify the set of base-parameter values that was judged to be physically impossible. Hence, the result would directly contribute to model-based control of manipulators or motion simulation for manipulators. In this paper, a sufficient condition for the inertial matrix to be positive definite for each configuration of the manipulator is given by use of physical inertial parameters of the links composing the manipulator. By use of this condition and a set of \u201cvirtual parameters,\u201d a scheme is given to judge if a set of base-parameter values determine the inertial matrix to be always positive definite or not.<\/jats:p>","DOI":"10.1177\/02783640022066996","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"498-510","source":"Crossref","is-referenced-by-count":70,"title":["Verification of the Positive Definiteness of the Inertial Matrix of                 Manipulators Using Base Inertial Parameters"],"prefix":"10.1177","volume":"19","author":[{"given":"Koji","family":"Yoshida","sequence":"first","affiliation":[{"name":"Department of Systems Engineering, Okayama Prefectural University, 111,                         Kuboki, Soja, Okayama 719-1197, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wisama","family":"Khalil","sequence":"additional","affiliation":[{"name":"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"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Gautier, M., and Khalil, W. 1989. Identification of the minimum inertial parameters of robots . Proc. IEEE Conf. of Robotics and Automation, pp. 1682\u20131687 .","DOI":"10.1109\/ROBOT.1988.12308"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.56655"},{"key":"atypb4","unstructured":"Ghodoussi, M., and Nakamura, Y. 1991. Principal base parameters of open and closed kinematic chains . Proc. IEEE Int. Conf. on Robotics and Automation."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/70.285599"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400202"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Khalil, W., and Kleinfinger, J. F. 1987. Minimum operations and minimum parameters of the dynamic models of tree structure robots . IEEE J. of Robotics and Automation RA-3(6): 517\u2013526 .","DOI":"10.1109\/JRA.1987.1087145"},{"key":"atypb8","unstructured":"Khosla, P. 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M., and Gautier, M. 1991. Essential parameters of robots. Proc. of the 30th CDC, pp. 2769\u20132774.","DOI":"10.1109\/CDC.1991.261862"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(92)90155-9"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Wittenburg, J. 1977. Dynamics of Systems of Rigid Bodies. Stuttgart: B. G. Teubner .","DOI":"10.1007\/978-3-322-90942-8"},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Yoshida, K., Mayeda, H., and Ono, T. 1996. Base parameters for manipulators with a planar parallelogram link mechanism . Advanced Robotics 10(1): 105\u2013137 .","DOI":"10.1163\/156855396X00147"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Yoshida, K., Osuka, K., Mayeda, H., and Ono, T. 1994. When is the set of base-parameter values physically impossible? Proc. of the 1994 IEEE\/RSJ Int. 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