{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:58Z","timestamp":1777715638969,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1999,1,1]],"date-time":"1999-01-01T00:00:00Z","timestamp":915148800000},"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":[[1999,1]]},"abstract":"<jats:p>This paper presents the analytical derivation of the inertia matrix and its inverse for an open-loop, serial-chain mbot. The derivation allows one to write a recursiveforward-dynamics algorithmforsimulation purposes whose computational complexity is of order a, i.e., O(n) n being the degrees offreedom of the robot under study The proposed methodology is based on the Gaussian elimination of the inertia matrix, in contrast to, say, Kalmanftltering; which is proposed elsewhere. The derivation is illustrated with a three-degrees-of-freedom planar robot.<\/jats:p>","DOI":"10.1177\/027836499901800108","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"116-124","source":"Crossref","is-referenced-by-count":4,"title":["Analytical Expression for the Inverted Inertia Matrix of Serial Robots"],"prefix":"10.1177","volume":"18","author":[{"given":"Subir Kumar","family":"Saha","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Indian Institute of Technology,                         Delhi, Hauz Khas, New Delhi 110 016, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1999,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3173642"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700504"},{"key":"atypb3","unstructured":"Armstrong, W. W. 1979. Recursive solution to the equations of motion of an n-link manipulator. Prc. of the 5th World Conf on Theory of Mach. and Mech. New York: American Society of Mechanical Engineers , pp. 1343-1346."},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Cloutier, B. l., Pai, D. K., and Ascher, U. M. 1995 (Nagoya, Japan, May 21-27). The fonnulation stiffness of forward dynamics algorithms and implications for robot simulation. Proc. of the IEEE Conf. on Robot. and Automat. vol. 3, Washington, DC: IEEE , pp. 2816-2822.","DOI":"10.1109\/ROBOT.1995.525682"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200102"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Lilly, K. W., and Orin, D. E. 1990 (Cincinnati, Ohio, May 13-18). Efficient O(n) computation of the operational space inertia matrix. Proc of the IEEE Conf. on Robot. and Automat. Los Alamitos, CA: IEEE , vol. 2. pp. 1014-1019.","DOI":"10.1109\/ROBOT.1990.126125"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.127240"},{"key":"atypb8","unstructured":"Saha, S. K. 1995 (December 12-14, Indore, India). Dynamic modeling using the DeNOC. Proc. of the Int. Conf on Automat. Pitcataway, NJ: IEEE Robotics and Automations Society ."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/70.563652"},{"key":"atypb10","unstructured":"Stewart, G. E. 1973. Introduction to Matrix Computations. New York: Academic Press ."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499901800108","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499901800108","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:45Z","timestamp":1777457745000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499901800108"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,1]]},"references-count":11,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1999,1]]}},"alternative-id":["10.1177\/027836499901800108"],"URL":"https:\/\/doi.org\/10.1177\/027836499901800108","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,1]]}}}