{"_buckets": {"deposit": "c9724d58-6056-436d-94ee-513423b97d49"}, "_deposit": {"id": "59", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "59"}, "status": "published"}, "_oai": {"id": "oai:repository.dl.itc.u-tokyo.ac.jp:00000059"}, "item_2_biblio_info_7": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1991-08", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "4", "bibliographicPageEnd": "534", "bibliographicPageStart": "528", "bibliographicVolumeNumber": "7", "bibliographic_titles": [{"bibliographic_title": "IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society"}]}]}, "item_2_description_13": {"attribute_name": "\u30d5\u30a9\u30fc\u30de\u30c3\u30c8", "attribute_value_mlt": [{"subitem_description": "application/pdf", "subitem_description_type": "Other"}]}, "item_2_description_5": {"attribute_name": "\u6284\u9332", "attribute_value_mlt": [{"subitem_description": "This paper describes a method ofcontrolling the position of a manipulator composed of active and passive joints. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the activejoints are controlled. The position of the manipulator is controlled by combining these two control modes. This paper describes the basic principle of the control method and the conditions that ensure the controllability of the passive joints. An algorithm for point-to-point control of the manipulator is also presented. The feasibility of the method is demonstrated by simulations for a manipulator with two degrees of freedom.", "subitem_description_type": "Abstract"}]}, "item_2_publisher_20": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "IEEE"}]}, "item_2_relation_11": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "info:doi/10.1109/70.86082", "subitem_relation_type_select": "DOI"}}]}, "item_2_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "\u00a91991 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."}]}, "item_2_source_id_10": {"attribute_name": "\u66f8\u8a8c\u30ec\u30b3\u30fc\u30c9ID", "attribute_value_mlt": [{"subitem_source_identifier": "AA10686140", "subitem_source_identifier_type": "NCID"}]}, "item_2_source_id_8": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "1042296X", "subitem_source_identifier_type": "ISSN"}]}, "item_2_subject_15": {"attribute_name": "\u65e5\u672c\u5341\u9032\u5206\u985e\u6cd5", "attribute_value_mlt": [{"subitem_subject": "548.3", "subitem_subject_scheme": "NDC"}]}, "item_2_text_34": {"attribute_name": "\u8cc7\u6e90\u30bf\u30a4\u30d7", "attribute_value_mlt": [{"subitem_text_value": "Journal Article"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Arai, Hirohiko"}], "nameIdentifiers": [{"nameIdentifier": "230", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tachi, Susumu"}], "nameIdentifiers": [{"nameIdentifier": "231", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "\u30d5\u30a1\u30a4\u30eb\u60c5\u5831", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2017-05-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "00086082.pdf", "filesize": [{"value": "504.9 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 504900.0, "url": {"label": "00086082.pdf", "url": "https://repository.dl.itc.u-tokyo.ac.jp/record/59/files/00086082.pdf"}, "version_id": "e6c8a36a-6df3-453c-b2c6-136b464fa40b"}]}, "item_language": {"attribute_name": "\u8a00\u8a9e", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "item_resource_type": {"attribute_name": "\u8cc7\u6e90\u30bf\u30a4\u30d7", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "Position Control of a Manipulator with Passive Joints Using Dynamic Coupling", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "Position Control of a Manipulator with Passive Joints Using Dynamic Coupling"}]}, "item_type_id": "2", "owner": "1", "path": ["30/31", "9/10/14"], "permalink_uri": "http://hdl.handle.net/2261/6851", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_value": "2007-06-06"}, "publish_date": "2007-06-06", "publish_status": "0", "recid": "59", "relation": {}, "relation_version_is_last": true, "title": ["Position Control of a Manipulator with Passive Joints Using Dynamic Coupling"], "weko_shared_id": null}