{"created":"2021-03-01T06:16:35.793400+00:00","id":62,"links":{},"metadata":{"_buckets":{"deposit":"e866e9b4-5255-4189-8ac0-e08e5b75dd4b"},"_deposit":{"id":"62","owners":[],"pid":{"revision_id":0,"type":"depid","value":"62"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000062","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":"Dynamic Control of a Manipulator with Passive Joints in an Operational Coordinate Space"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1991-05","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"537","bibliographicPageEnd":"1624","bibliographicPageStart":"1621","bibliographicVolumeNumber":"57","bibliographic_titles":[{"bibliographic_title":"日本機械学會論文集. C編"}]}]},"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":"The authors have proposed a method of controlling a manipulator with passive joints which have no actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, a method to control the tip position of a manipulator with passive joints in an operational coordinate space is proposed. The equations of motion are described in terms of operational coordinates. The coordinates are separated into controlled coordinates and compensating coordinates. The number of the controlled coordinates is the same as the number of active joints. The accelerations of the controlled coordinates can be arbitrarily adusted by using dynamic coupling of the manipulator. The effectiveness of the method is veriied by experiments using a two-degree-of-freedom manipulator with a passive joint. The experiments show that the controlled coordinates of the position of the manipulator can be controlled precisely by use of the proposed method.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"240","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Arai, Hirohiko"}]},{"nameIdentifiers":[{"nameIdentifier":"241","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tachi, Susumu"}]}]},"item_2_publisher_20":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本機械学会"}]},"item_2_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00187463","subitem_source_identifier_type":"NCID"}]},"item_2_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03875024","subitem_source_identifier_type":"ISSN"}]},"item_2_subject_15":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"530","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":"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":"荒井, 裕彦"}],"nameIdentifiers":[{"nameIdentifier":"238","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"239","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":"2017-05-30"}],"displaytype":"detail","filename":"tachi_1991_e32.pdf","filesize":[{"value":"271.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"tachi_1991_e32.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/62/files/tachi_1991_e32.pdf"},"version_id":"8df0cd63-d66a-48b5-983b-178fee81f270"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Robotics","subitem_subject_scheme":"Other"},{"subitem_subject":"Manipulator","subitem_subject_scheme":"Other"},{"subitem_subject":"Dynamic Coupling","subitem_subject_scheme":"Other"},{"subitem_subject":"Passive Joint","subitem_subject_scheme":"Other"},{"subitem_subject":"Operational Coordinate Space","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":"非駆動関節を有するマニピュレータの作業座標系における動的制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"非駆動関節を有するマニピュレータの作業座標系における動的制御"}]},"item_type_id":"2","owner":"1","path":["31","14"],"pubdate":{"attribute_name":"公開日","attribute_value":"2007-06-06"},"publish_date":"2007-06-06","publish_status":"0","recid":"62","relation_version_is_last":true,"title":["非駆動関節を有するマニピュレータの作業座標系における動的制御"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:01.640087+00:00"}