{"created":"2023-06-19T09:11:17.648201+00:00","id":22976,"links":{},"metadata":{"_buckets":{"deposit":"e10bdda5-4492-4547-a1bd-c7327712b164"},"_deposit":{"created_by":1,"id":"22976","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"22976"},"status":"published"},"_oai":{"id":"oai:kumadai.repo.nii.ac.jp:00022976","sets":["426:428"]},"author_link":["100174","158514","100170","100173"],"item_16_alternative_title_22":{"attribute_name":"その他の言語のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Dynamic Parametrization for Path Following Control"}]},"item_16_alternative_title_23":{"attribute_name":"タイトル（ヨミ）","attribute_value_mlt":[{"subitem_alternative_title":"ドウテキ パラメータ ヒョウゲン ニ ヨル ケイロ ツイジュウ セイギョ 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":"2001-04-25","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"656","bibliographicPageEnd":"1059","bibliographicPageStart":"1053","bibliographicVolumeNumber":"67","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":"100173","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Adachi, Norihiko"}],"nameIdentifiers":[{"nameIdentifier":"100174","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":"Path following is a popular task for robotic use. The conventional approach for the path following consists of two stages. At the first stage, the desired state of a robot is computed as a function of time before the robot executes the task. And at the second stage, the robot is controlled to track the desired state. Since the objective of the original task is to follow the reference path, the velocity of the robot or timing is not needed to be controlled strictly. In this paper, a new approach to make the robot follow the reference path is proposed. This approach defines the desired state as a function of a parameter φ, which has a dynamics. By using a Lyapunov function, the global asymptotic stability of the system is proved. Computer simulations show the effectiveness of the proposed method.","subitem_description_type":"Other"}]},"item_16_description_77":{"attribute_name":"URL","attribute_value_mlt":[{"subitem_description":"http://ci.nii.ac.jp/naid/110002386111@@@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":"506625 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":"100170","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":"110002386111.pdf","filesize":[{"value":"506.6 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"110002386111.pdf","url":"https://kumadai.repo.nii.ac.jp/record/22976/files/110002386111.pdf"},"version_id":"a011c828-f5e9-4a4e-9ee6-11f3f6031a64"}]},"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":"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":"動的パラメータ表現による経路追従制御 : 機械力学,計測,自動制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"動的パラメータ表現による経路追従制御 : 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":"22976","relation_version_is_last":true,"title":["動的パラメータ表現による経路追従制御 : 機械力学,計測,自動制御"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-08-18T05:28:57.430470+00:00"}