{"created":"2023-06-19T10:29:09.949437+00:00","id":8872,"links":{},"metadata":{"_buckets":{"deposit":"f79d2e45-6581-49e0-a502-d0d08ba73ee6"},"_deposit":{"created_by":18,"id":"8872","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"8872"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00008872","sets":["46"]},"author_link":["44576","42734"],"item_79_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1992-04-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"234","bibliographicPageStart":"226","bibliographicVolumeNumber":"10","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌","bibliographic_titleLang":"ja"},{"bibliographic_title":"Journal of the Robotics Society of Japan","bibliographic_titleLang":"en"}]}]},"item_79_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_79_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper discusses a control for a non-linear distributed-parameter system of a flexible arm with a suspended load, taking mass and stiffness distributions of the arm into consideration. The fact that the rest system has null potential and kinetic energy is employed to derive an asymptotically stable control law which suppresses both the load-swing and the elastic vibration of the link and controls the angular position of the arm. The approach needs neither linealization of the system dynamics nor the modal decompositon of the dynamics. Therefore, the resultant control law does stabilize the non-linear dynamics of the system free from the traditional spillover problems. The validity of the proposed approach is demonstrated by several experiments, and then the effectiveness of the controller is shown.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_79_link_17":{"attribute_name":"出版者版へのリンク","attribute_value_mlt":[{"subitem_link_text":"10.7210/jrsj.10.226","subitem_link_url":"https://doi.org/10.7210/jrsj.10.226"}]},"item_79_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会","subitem_publisher_language":"ja"}]},"item_79_relation_15":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10006714834","subitem_relation_type_select":"NAID"}}]},"item_79_relation_18":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.7210/jrsj.10.226","subitem_relation_type_select":"DOI"}}]},"item_79_relation_22":{"attribute_name":"主となる版","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://www.jstage.jst.go.jp/article/jrsj1983/10/2/10_2_226/_pdf","subitem_relation_type_select":"URI"}}]},"item_79_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 1992 日本ロボット学会","subitem_rights_language":"ja"}]},"item_79_source_id_12":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"PISSN"}]},"item_79_source_id_14":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_79_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548","subitem_subject_scheme":"NDC"}]},"item_79_version_type_21":{"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_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"橋本, 幸男","creatorNameLang":"ja"},{"creatorName":"HASHIMOTO, Yukio","creatorNameLang":"en"},{"creatorName":"ハシモト, ユキオ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"土谷, 武士","creatorNameLang":"ja"},{"creatorName":"TSUCHIYA, Takeshi","creatorNameLang":"en"},{"creatorName":"ツチヤ, タケシ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-04-27"}],"displaytype":"detail","filename":"10_2_226.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10_2_226.pdf","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/8872/files/10_2_226.pdf"},"version_id":"b989d64e-e44c-4d2c-9e2d-1d56523ee6a0"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Flexible Arm","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Vibration Control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Non-Linear Systems","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Distributed-Parameter Systems","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Energy Dissipation","subitem_subject_language":"en","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":"フレキシブルアームによる懸垂物の移動制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"フレキシブルアームによる懸垂物の移動制御","subitem_title_language":"ja"},{"subitem_title":"Motion Control of Flexible Arm with Suspended Load","subitem_title_language":"en"}]},"item_type_id":"79","owner":"18","path":["46"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-04-27"},"publish_date":"2016-04-27","publish_status":"0","recid":"8872","relation_version_is_last":true,"title":["フレキシブルアームによる懸垂物の移動制御"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-11-13T05:29:29.137600+00:00"}