{"created":"2021-03-01T06:17:00.111579+00:00","id":461,"links":{},"metadata":{"_buckets":{"deposit":"ed786415-8574-44db-a5da-8480090b0859"},"_deposit":{"id":"461","owners":[],"pid":{"revision_id":0,"type":"depid","value":"461"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000461","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 Controlled Master Slave Manipulation SystemPart I : Basic Concept and Application to the System withTime Delay"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1990-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"252","bibliographicPageStart":"241","bibliographicVolumeNumber":"8","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 research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., impedance controlled master slave system, is presented. Impedance control of the manipulators is applied to this system. The system regulates the impedances of the master and the slave so that they coincide, and it generates the impedance models of the environment. Four basic control methods are proposed as the extension of conventional bilateral systems and it is shown that most of them can be transformed to each other by calculating force information even with less force information. They are also applied to the system with time delay. These methods are verified in the experiments with a two degrees of freedom direct drive manipulator.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106627","nameIdentifierScheme":"WEKO"}],"names":[{"name":"TACHI, Susumu"}]},{"nameIdentifiers":[{"nameIdentifier":"106628","nameIdentifierScheme":"WEKO"}],"names":[{"name":"SAKAKI, Taisuke"}]}]},"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"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106625","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"榊, 泰輔"}],"nameIdentifiers":[{"nameIdentifier":"106626","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":"0803B001.pdf","filesize":[{"value":"737.8 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"0803B001.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/461/files/0803B001.pdf"},"version_id":"0ea4d893-23c1-4113-9b28-f31527a37f28"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Impedance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Master Slave Manipulation","subitem_subject_scheme":"Other"},{"subitem_subject":"Tele-Existence","subitem_subject_scheme":"Other"},{"subitem_subject":"Time Delay","subitem_subject_scheme":"Other"},{"subitem_subject":"Impedance Model","subitem_subject_scheme":"Other"},{"subitem_subject":"Telerobotics","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":"インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用"}]},"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":"461","relation_version_is_last":true,"title":["インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:23.683811+00:00"}