{"created":"2023-06-19T09:11:17.601833+00:00","id":22975,"links":{},"metadata":{"_buckets":{"deposit":"416a7f8a-8392-4ed0-8a9f-52bed073f99f"},"_deposit":{"created_by":1,"id":"22975","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"22975"},"status":"published"},"_oai":{"id":"oai:kumadai.repo.nii.ac.jp:00022975","sets":["426:428"]},"author_link":["100168","158514","100164","100167"],"item_16_alternative_title_22":{"attribute_name":"その他の言語のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Path Following Control Based on Dynamic Parametrization for Manipulator with Impact"}]},"item_16_alternative_title_23":{"attribute_name":"タイトル（ヨミ）","attribute_value_mlt":[{"subitem_alternative_title":"ショウゲキ ノ アル マニピュレータ システム ニ タイスル ドウテキ パラメータ ヒョウゲン ニ モトヅク ツイジュウ セイギョ シュホウ キカイ リキガク ケイソク ジドウ セイギョ"}]},"item_16_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2002-01-25","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"665","bibliographicPageEnd":"138","bibliographicPageStart":"132","bibliographicVolumeNumber":"68","bibliographic_titles":[{"bibliographic_title":"日本機械学會論文集. C編"}]}]},"item_16_creator_3":{"attribute_name":"別言語の著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Kumon, Makoto"}],"nameIdentifiers":[{"nameIdentifier":"100167","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Adachi, Norihiko"}],"nameIdentifiers":[{"nameIdentifier":"100168","nameIdentifierScheme":"WEKO"}]}]},"item_16_description_17":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_16_description_46":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"論文(Article)","subitem_description_type":"Other"}]},"item_16_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"It is important in practice use for robots to contact an object or environment around the robot. At the moment of the contact, an impulsive force, or impact, may cause a discontinuous change of the state of the robot. Since the impact strongly depends on the configuration of the robot at the moment of the contact, the precise control of the configuration of the robot is needed. Authors have proposed a path following control method based on dynamic parametrization, that makes the robot follow the desired path efficiently. In this paper, the above method is applied to a manipulator system with impact. And it is shown that this controller with high feedback gain can stabilize the system with impact. Results of computer simulations validate this result.","subitem_description_type":"Other"}]},"item_16_description_77":{"attribute_name":"URL","attribute_value_mlt":[{"subitem_description":"http://ci.nii.ac.jp/naid/110002378321@@@http://www.jsme.or.jp/","subitem_description_type":"Other"}]},"item_16_publisher_36":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"社団法人　日本機械学会"}]},"item_16_relation_16":{"attribute_name":"情報源(ISSN)","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"03875024"}]}]},"item_16_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"社団法人　日本機械学会"}]},"item_16_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00187463","subitem_source_identifier_type":"NCID"}]},"item_16_subject_20":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"530","subitem_subject_scheme":"NDC"}]},"item_16_text_18":{"attribute_name":"形態","attribute_value_mlt":[{"subitem_text_value":"531993 bytes"}]},"item_16_text_37":{"attribute_name":"出版者（ヨミ）","attribute_value_mlt":[{"subitem_text_value":"ニホン キカイ ガッカイ"}]},"item_16_text_38":{"attribute_name":"別言語の出版者","attribute_value_mlt":[{"subitem_text_value":"The Japan Society of Mechanical Engineers"}]},"item_16_text_47":{"attribute_name":"資源タイプ・ローカル","attribute_value_mlt":[{"subitem_text_value":"雑誌掲載論文"}]},"item_16_text_48":{"attribute_name":"資源タイプ・NII","attribute_value_mlt":[{"subitem_text_value":"Journal Article"}]},"item_16_text_49":{"attribute_name":"資源タイプ・DCMI","attribute_value_mlt":[{"subitem_text_value":"text"}]},"item_16_text_50":{"attribute_name":"資源タイプ・ローカル表示コード","attribute_value_mlt":[{"subitem_text_value":"01"}]},"item_16_text_78":{"attribute_name":"コメント","attribute_value_mlt":[{"subitem_text_value":"本文データは学協会の許諾に基づきCiNiiから複製したものである"}]},"item_16_version_type_19":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"","affiliationNameIdentifierScheme":"ISNI","affiliationNameIdentifierURI":"http://www.isni.org/isni/"}],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Kumon, Makoto","creatorNameLang":"en"},{"creatorName":"公文, 誠","creatorNameLang":"ja"},{"creatorName":"クモン, マコト","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Kumon","familyNameLang":"en"},{"familyName":"公文","familyNameLang":"ja"},{"familyName":"クモン","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Makoto","givenNameLang":"en"},{"givenName":"誠","givenNameLang":"ja"},{"givenName":"マコト","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"158514","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"足立, 紀彦"}],"nameIdentifiers":[{"nameIdentifier":"100164","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-03-02"}],"displaytype":"detail","filename":"110002378321.pdf","filesize":[{"value":"532.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"110002378321.pdf","url":"https://kumadai.repo.nii.ac.jp/record/22975/files/110002378321.pdf"},"version_id":"3e78ee18-2920-4f9a-ab14-cf783682d482"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Manipulator","subitem_subject_scheme":"Other"},{"subitem_subject":"Measurement and Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Stability","subitem_subject_scheme":"Other"},{"subitem_subject":"Impact","subitem_subject_scheme":"Other"},{"subitem_subject":"Path Following","subitem_subject_scheme":"Other"},{"subitem_subject":"Dynamic Parametrization","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"衝撃のあるマニピュレータシステムに対する動的パラメータ表現にもとづく追従制御手法(機械力学,計測,自動制御)","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"衝撃のあるマニピュレータシステムに対する動的パラメータ表現にもとづく追従制御手法(機械力学,計測,自動制御)"}]},"item_type_id":"16","owner":"1","path":["428"],"pubdate":{"attribute_name":"公開日","attribute_value":"2009-11-10"},"publish_date":"2009-11-10","publish_status":"0","recid":"22975","relation_version_is_last":true,"title":["衝撃のあるマニピュレータシステムに対する動的パラメータ表現にもとづく追従制御手法(機械力学,計測,自動制御)"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-08-18T05:28:57.719132+00:00"}