{"created":"2021-03-01T06:16:59.385231+00:00","id":449,"links":{},"metadata":{"_buckets":{"deposit":"2ad7bb58-29dd-43a9-8597-7ca8d487f6c1"},"_deposit":{"id":"449","owners":[],"pid":{"revision_id":0,"type":"depid","value":"449"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000449","sets":["30:31","9:10:14"]},"item_2_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"A Stabilizing Method of Contact Tasks on Servo-based Impedance Control"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1995-07","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"5","bibliographicPageEnd":"665","bibliographicPageStart":"659","bibliographicVolumeNumber":"13","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_2_description_13":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_2_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a new control algorithm of servo-based impedance control of robot manipulator for stabilization of contact task. There still has been stability problem of servo-based impedance control when a manipulator contacts to a stiff environment with a small viscosity coefficient of target impedance. The paper shows a stabilizing method for impedance control even with a small target viscosity. The proposed control system modifies the target dynamics model, but has no necessity to change the servo-control system. The simulations and contact task experiments show an extremely similar response to a target impedance and verify sophisticated contact stability with an one-tenth target viscosity and with over two times larger velocity more than the stability conditions limited for conventional control methods.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106559","nameIdentifierScheme":"WEKO"}],"names":[{"name":"SAKAKI, Taisuke"}]},{"nameIdentifiers":[{"nameIdentifier":"106560","nameIdentifierScheme":"WEKO"}],"names":[{"name":"TACHI, Susumu"}]}]},"item_2_publisher_20":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会"}]},"item_2_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_2_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_2_subject_15":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548.3","subitem_subject_scheme":"NDC"}]},"item_2_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"安川電機つくば研究所"},{"subitem_text_value":"東京大学先端科学技術研究センター"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"榊, 泰輔"}],"nameIdentifiers":[{"nameIdentifier":"106557","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106558","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":"2017-06-26"}],"displaytype":"detail","filename":"1305B077.pdf","filesize":[{"value":"508.7 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"1305B077.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/449/files/1305B077.pdf"},"version_id":"f51a0973-2be2-415d-9cf7-51b5fcce4067"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Servo-Based Impedance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Contact Stability","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":"サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法"}]},"item_type_id":"2","owner":"1","path":["31","14"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-12"},"publish_date":"2010-03-12","publish_status":"0","recid":"449","relation_version_is_last":true,"title":["サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:19.861233+00:00"}