TY - JOUR N2 - The condition number of the Generalized Inertia Matrix (GIM) of a serial chain can be used to measure its ill-conditioning. However, computation of the condition number is computationally very expensive. Therefore, this paper investigates alternative means to estimate the condition number, in particular, for a very long serial-chain. For this, the diagonal elements of the GIM are examined. It is found that the ratio of the largest and smallest diagonal elements of the GIM, when scaled using an initial estimate of the condition number, closely resembles the condition number. This significantly simplifies the process of detecting ill-conditioning of the GIM, which may help to decide on stability of the system at hand. L1 - http://www.czasopisma.pan.pl/Content/84702/PDF/09_paper.pdf L2 - http://www.czasopisma.pan.pl/Content/84702 PY - 2013 IS - No 1 EP - 156 DO - 10.2478/meceng-2013-0009 KW - generalized inertia matrix KW - diagonal ratio KW - ill-conditioning KW - condition number A1 - Shah, Suril V. A1 - Saha, Subir K. PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 60 DA - 2013 T1 - Correlation between diagonal ratio and condition number of the generalized inertia matrix of a serial-chain SP - 147 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/84702 T2 - Archive of Mechanical Engineering ER -