{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:45:57Z","timestamp":1777715157410,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[1991,4,1]],"date-time":"1991-04-01T00:00:00Z","timestamp":670464000000},"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":[[1991,4]]},"abstract":"<jats:p>\n                    This article presents the development of an O( log\n                    <jats:sub>2<\/jats:sub>\n                    N) parallel algorithm for the manipulator inertia matrix. It is based on an efficient serial algorithm that uses the composite rigid- body method. Recursive doubling is used to reformulate the linear recurrence equations that are required to compute the diagonal elements of the matrix. It results in O( log\n                    <jats:sub>2<\/jats:sub>\n                    N) levels of computation. Computation of the off-diagonal ele ments involves N linear recurrences of varying size, and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O( log\n                    <jats:sub>2<\/jats:sub>\n                    N) algorithm is presented in both equation and graphic forms that clearly show the parallelism inherent in the algorithm. The relationship between the number of pro cessors required and the order of the computation is also given for several versions of parallel algorithms for the inertia matrix.\n                  <\/jats:p>","DOI":"10.1177\/027836499101000207","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"162-170","source":"Crossref","is-referenced-by-count":8,"title":["Parallel Algorithms for Computation of the Manipulator Inertia Matrix"],"prefix":"10.1177","volume":"10","author":[{"given":"Masoud","family":"Amin-Javaheri","sequence":"first","affiliation":[{"name":"GMF Robotics Corporation Auburn Hills, Michigan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David E.","family":"Orin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering The Ohio State University Columbus, Ohio"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Amin-Javaheri, M., and Orin, D.E. 1987. A systolic architecture for computation of the manipulator inertia matrix. Proc. Int. Conf Robotics and Automation. Raleigh, N.C.: IEEE, pp. 647-653.","DOI":"10.1109\/ROBOT.1987.1087925"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/21.23092"},{"key":"atypb3","volume-title":"Constrained motion of a 3-D manipulator over unknown constraints: The robotic groping problem. Ph.D. dissertation, Electrical Engineering Department","author":"Bay, J.","year":"1988"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Fijany, A., and Bejczy, A.K. 1989. A class of parallel algorithms for computation of the manipulator inertia matrix. Proc. Int. Conf. Robotics and Automation . Scottsdale, Ariz. IEEE, pp. 1818-1826.","DOI":"10.1109\/ROBOT.1989.100238"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/MC.1985.1662920"},{"key":"atypb6","volume-title":"Proc. of the 3rd CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators","author":"Hewit, J.R."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1973.5009159"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400207"},{"key":"atypb10","volume-title":"Nonlinear control of robot manipulators, part 2: Simulation and implementation of a robust control method","author":"Leborgne, M.","year":"1986"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289256"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/21.3463"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000107"},{"key":"atypb14","unstructured":"Orin, D.E., Olson, K.W., and Chao, H.H. 1987. Systolic architectures for computation of the Jacobian for robot manipulators. In J. E. Graham, (ed.): Computer Architectures for Robotics and Automation. New York: Gordon and Breach Science Publishers , pp. 39-67."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020307"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000207","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000207","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:13Z","timestamp":1777457653000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000207"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,4]]},"references-count":16,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1991,4]]}},"alternative-id":["10.1177\/027836499101000207"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000207","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,4]]}}}