{"_buckets": {"deposit": "5a8a1718-6f91-4b3d-ba24-6ebe1d76ea81"}, "_deposit": {"id": "3773", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3773"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003773", "sets": ["454", "425"]}, "item_5_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "A Control Algorithm of a Redundant Parallel Manipulator by an Internal Force Sensor"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2005-01", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "701", "bibliographicPageEnd": "192", "bibliographicPageStart": "185", "bibliographicVolumeNumber": "71", "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 a new control method for a redundant parallel manipulator using an internal force sensor. In conventional 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 propose a new control method using a conventional geared actuator in this paper. In our method, internal forces produced by actuator redundancy is detected by an internal force sensor and controlled to be zero. We demonstrate about the proposed control system and the structure, the principle, and the experimental result of the redundant parallel manipulator using the internal force sensor.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45277", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45278", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Onodera, Ryouji"}]}, {"nameIdentifiers": [{"nameIdentifier": "45279", "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/110006264512", "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": "45274", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "小野寺, 良二"}], "nameIdentifiers": [{"nameIdentifier": "45275", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "佐谷, 明映"}], "nameIdentifiers": [{"nameIdentifier": "45276", "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_0176.pdf", "filesize": [{"value": "756.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 756200.0, "url": {"label": "9_0176.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3773/files/9_0176.pdf"}, "version_id": "35a2c020-144e-4ec2-abde-2add79642fe6"}]}, "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"}, {"subitem_subject": "Position Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Torque Control", "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": "内力センサを用いた冗長パラレルマニピュレータの制御手法について", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "内力センサを用いた冗長パラレルマニピュレータの制御手法について"}, {"subitem_title": "内力センサを用いた冗長パラレルマニピュレータの制御手法について", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5878", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3773", "relation": {}, "relation_version_is_last": true, "title": ["内力センサを用いた冗長パラレルマニピュレータの制御手法について"], "weko_shared_id": null}