{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:50:03Z","timestamp":1777715403144,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[1995,4,1]],"date-time":"1995-04-01T00:00:00Z","timestamp":796694400000},"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":[[1995,4]]},"abstract":"<jats:p>This article presents a symbolic solution to determine the base inertial parameters of robots containing closed loops. The method gives most of the base inertial parameters directly and in many cases even gives all the base inertial parameters. The solution is obtained using recursive relations without cal culating the energy or the dynamic model of the robot; the constraint equations of the loops need not be obtained. New results concerning the base inertial parameters of tree structure robots are also given.<\/jats:p>","DOI":"10.1177\/027836499501400202","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"112-128","source":"Crossref","is-referenced-by-count":71,"title":["Symbolic Calculation of the Base Inertial Parameters of Closed-Loop Robots"],"prefix":"10.1177","volume":"14","author":[{"given":"Wisama","family":"Khalil","sequence":"first","affiliation":[{"name":"Laboratoire d'Automatique de Nantes URA C.N.R.S 823 Ecole centrale de Nantes 44072, Nantes cedex, France"}]},{"given":"Fouad","family":"Bennis","sequence":"additional","affiliation":[{"name":"Laboratoire d'Automatique de Nantes URA C.N.R.S 823 Ecole centrale de Nantes 44072, Nantes cedex, France"}]}],"member":"179","published-online":{"date-parts":[[1995,4,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. 24th Conf. on Decision and Control","author":"An, C.H."},{"key":"atypb2","volume-title":"IEEE Conference on Robotics and Automation","author":"Bennis, F."},{"key":"atypb3","volume-title":"IEEE Robotics and Automation Conference","author":"Bennis, F."},{"key":"atypb4","volume-title":"Mod\u00e9lisation et commande dynamiques des robots rapides","author":"Desbats, P.","year":"1990"},{"key":"atypb5","volume-title":"Mod\u00e9lisation et Commande des Robots","author":"Dombre, E.","year":"1988"},{"key":"atypb6","volume-title":"Proc. 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