{"_buckets": {"deposit": "22eff471-d952-463d-8979-a29a62acf541"}, "_deposit": {"id": "3767", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3767"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003767", "sets": ["454", "425"]}, "item_5_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "An Internal Force Sensor for Control of a Redundant Parallel Manipulator"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2006-03", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "715", "bibliographicPageEnd": "900", "bibliographicPageStart": "893", "bibliographicVolumeNumber": "72", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集. C編"}, {"bibliographic_title": "日本機械学会論文集. C編", "bibliographic_titleLang": "en"}]}]}, "item_5_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper describes an internal force sensor for a new redundant parallel manipulator. In convensional control methods of a redundant parallel manipulator, optimal torque minimized actuator torque or maximized manipulability by using evaluation function is decided and used. However, these methods have to use a torque controlled actuator. It\u0027s torque is small, also it is expensive. So, we proposed a new control method using a conventional geared actuator. In our method, internal forces produced by actuator redundancy was detected by an internal force sensor and controlled to be zero. This force sensor is designed to detect only internal forces loaded the end-effector. We demonstrate about the structure and the principle of the proposed internal force sensor, and experimental result of the internal force sensor when internal and outer forces are loaded it.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45237", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45238", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Onodera, Ryouji"}]}, {"nameIdentifiers": [{"nameIdentifier": "45239", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Satani, Akiei"}]}]}, "item_5_publisher_7": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本機械学会"}]}, "item_5_relation_31": {"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/110004702512", "subitem_relation_type_select": "URI"}}]}, "item_5_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である"}]}, "item_5_select_19": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_5_source_id_11": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00187463", "subitem_source_identifier_type": "NCID"}]}, "item_5_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "03875024", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "三村, 宣治"}], "nameIdentifiers": [{"nameIdentifier": "45234", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "小野寺, 良二"}], "nameIdentifiers": [{"nameIdentifier": "45235", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "佐谷, 明映"}], "nameIdentifiers": [{"nameIdentifier": "45236", "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": "2019-07-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "9_0181.pdf", "filesize": [{"value": "599.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 599200.0, "url": {"label": "9_0181.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3767/files/9_0181.pdf"}, "version_id": "0eed410b-3d2d-4d9c-bc51-365a43afbf73"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Internal Force Sensor", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Parallel Manipulator", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Redundant Actuation", "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": "駆動冗長パラレルマニピュレータに用いる内力センサについて", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "駆動冗長パラレルマニピュレータに用いる内力センサについて"}, {"subitem_title": "駆動冗長パラレルマニピュレータに用いる内力センサについて", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5883", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3767", "relation": {}, "relation_version_is_last": true, "title": ["駆動冗長パラレルマニピュレータに用いる内力センサについて"], "weko_shared_id": null}