{"created":"2023-06-19T08:36:52.034455+00:00","id":3371,"links":{},"metadata":{"_buckets":{"deposit":"a9c738e7-2119-4050-a54d-d409b7588273"},"_deposit":{"created_by":2,"id":"3371","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"3371"},"status":"published"},"_oai":{"id":"oai:gunma-u.repo.nii.ac.jp:00003371","sets":["572:575:576"]},"author_link":["8229","8230","8227","8228"],"item_6_alternative_title_18":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Study on a Two-Link Horizontal Bar Gymnastics Robot with Passive Joint : Motion Control Using Feedforward Control based on Inverse Dynamics"}]},"item_6_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1991-07-25","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"539","bibliographicPageEnd":"2296","bibliographicPageStart":"2291","bibliographicVolumeNumber":"57","bibliographic_titles":[{"bibliographic_title":"日本機械学會論文集. C編"}]}]},"item_6_date_61":{"attribute_name":"更新日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2017-03-27","subitem_date_issued_type":"Created"}]},"item_6_description_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_6_description_39":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_6_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper describes a motion control method of a two-link horizontal bar gymnastics robot with passive joint by use of a feedforward control based on the inverse dynamics. The direct current servomotor is installed at only the second joint, and the first link is controlled by the coupling forces and the moments between the active and passive joints. The dynamic behavior of the robot is described by the use of a system with two equations of motion. In the design of the control system, first, the feedforward control angle of the first joint is obtained by the numerical simulation with the first equation of motion for the desired second joint angle. Then, the feedforward control torque of the servomotor is computed by applying inverse dynamics to the second equation, and the feedforward control voltage is obtained in consideration of the electric circuit of the servomotor. Furthermore, the experimental results are demonstrated, and the availability of the present motion control method is confirmed.","subitem_description_type":"Abstract"}]},"item_6_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本機械学会"}]},"item_6_relation_43":{"attribute_name":"異版である","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":" http://ci.nii.ac.jp/naid/110002379933/","subitem_relation_type_select":"URI"}}]},"item_6_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"日本機械学会"},{"subitem_rights":"本文データは学協会の許諾に基づきCiNiiから複製したものである"}]},"item_6_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0387-5024","subitem_source_identifier_type":"ISSN"}]},"item_6_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00187463","subitem_source_identifier_type":"NCID"}]},"item_6_version_type_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小島, 宏行"}],"nameIdentifiers":[{"nameIdentifier":"8227","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"三友, 啓之"}],"nameIdentifiers":[{"nameIdentifier":"8228","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"和田, 祐樹"}],"nameIdentifiers":[{"nameIdentifier":"8229","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"坂本, 賢治"}],"nameIdentifiers":[{"nameIdentifier":"8230","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":"2020-11-25"}],"displaytype":"detail","filename":"C57_2291.pdf","filesize":[{"value":"447.3 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"C57_2291.pdf","url":"https://gunma-u.repo.nii.ac.jp/record/3371/files/C57_2291.pdf"},"version_id":"8e4fa243-3c8a-48d8-a81c-a074ea4b5e69"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Robotics","subitem_subject_scheme":"Other"},{"subitem_subject":"Computer Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Horizontal Bar Gymnastics Robot","subitem_subject_scheme":"Other"},{"subitem_subject":"inverse Dynamics","subitem_subject_scheme":"Other"},{"subitem_subject":"Feedforward Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Motion Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Passive Joint","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2関節形鉄棒ロボットに関する研究 : 逆動力学に基づくフィードフォワード制御を適用した運動制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"非駆動関節を有する2関節形鉄棒ロボットに関する研究 : 逆動力学に基づくフィードフォワード制御を適用した運動制御"},{"subitem_title":"Study on a Two-Link Horizontal Bar Gymnastics Robot with Passive Joint : Motion Control Using Feedforward Control based on Inverse Dynamics","subitem_title_language":"en"}]},"item_type_id":"6","owner":"2","path":["576"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-02-06"},"publish_date":"2008-02-06","publish_status":"0","recid":"3371","relation_version_is_last":true,"title":["非駆動関節を有する2関節形鉄棒ロボットに関する研究 : 逆動力学に基づくフィードフォワード制御を適用した運動制御"],"weko_creator_id":"2","weko_shared_id":-1},"updated":"2023-06-19T13:03:33.743916+00:00"}