{"created":"2021-03-01T06:16:59.989420+00:00","id":459,"links":{},"metadata":{"_buckets":{"deposit":"0c336bb4-c2d3-422d-a519-096d7f09de37"},"_deposit":{"id":"459","owners":[],"pid":{"revision_id":0,"type":"depid","value":"459"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000459","sets":["34:35:36","9:10:14"]},"item_2_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Impedance Control of a Direct Drive Manipulator without Using Force Sensors"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1989-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"184","bibliographicPageStart":"172","bibliographicVolumeNumber":"7","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 reseach is concerned with impedance control of a manipulator which exerts stable contact task. The method controls dynamic interaction between a robot and its environment by changing the apparent mechanical impedance of the manipulator. Previous impedance control methods required force or torque sensors, which made the manipulator system most complex. In this paper a new method is proposed to control the impedance of a manipulator without using force or torque sensors. Angular velocity and acceleration of the manipulator joints are estimated, and by using the computer model of the manipulator necessary torque for each joint is caluculated and applied to the joint to attain the desired impedance. The feasibility of the method is verified by the surface following experiments and collision experiments using a two degree of freedom DD manipulator.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106616","nameIdentifierScheme":"WEKO"}],"names":[{"name":"TACHI, Susumu"}]},{"nameIdentifiers":[{"nameIdentifier":"106617","nameIdentifierScheme":"WEKO"}],"names":[{"name":"SAKAKI, Taisuke"}]},{"nameIdentifiers":[{"nameIdentifier":"106618","nameIdentifierScheme":"WEKO"}],"names":[{"name":"ARAI, Hirohiko"}]},{"nameIdentifiers":[{"nameIdentifier":"106619","nameIdentifierScheme":"WEKO"}],"names":[{"name":"NISHIZAWA, Shoichiro"}]},{"nameIdentifiers":[{"nameIdentifier":"106620","nameIdentifierScheme":"WEKO"}],"names":[{"name":"PELAEZ-POLO, Jose Felipe"}]}]},"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":"機械技術研究所"},{"subitem_text_value":"安川電機製作所"},{"subitem_text_value":"メキシコ国立大学"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106611","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"榊, 泰輔"}],"nameIdentifiers":[{"nameIdentifier":"106612","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"荒井, 裕彦"}],"nameIdentifiers":[{"nameIdentifier":"106613","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"西澤, 昭一郎"}],"nameIdentifiers":[{"nameIdentifier":"106614","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"ペラエス・ポロ, ホセ・フェリペ"}],"nameIdentifiers":[{"nameIdentifier":"106615","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":"0703B060.pdf","filesize":[{"value":"761.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"0703B060.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/459/files/0703B060.pdf"},"version_id":"e158b0d0-4023-4745-aaeb-3a7c81f43fef"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Impedance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Compliance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Direct Drive Manipulator","subitem_subject_scheme":"Other"},{"subitem_subject":"Model-based Control","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":"力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御"}]},"item_type_id":"2","owner":"1","path":["14","36"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-12"},"publish_date":"2010-03-12","publish_status":"0","recid":"459","relation_version_is_last":true,"title":["力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:25.193536+00:00"}