WEKO3
インデックスリンク
アイテム
{"_buckets": {"deposit": "2ec35da2-a7a8-495d-9f3b-2cb8cbd54da3"}, "_deposit": {"created_by": 3, "id": "9187", "owners": [3], "pid": {"revision_id": 0, "type": "depid", "value": "9187"}, "status": "published"}, "_oai": {"id": "oai:kanazawa-u.repo.nii.ac.jp:00009187", "sets": ["4187"]}, "author_link": ["13114", "72385", "131", "714", "13113", "109836", "10208", "109837"], "item_4_biblio_info_8": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2014-12-25", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "820", "bibliographicPageStart": "TRANS0345", "bibliographicVolumeNumber": "80 .", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集 = Transactions of the JSME"}]}]}, "item_4_creator_33": {"attribute_name": "著者別表示", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Tachiya, Hiroshi"}], "nameIdentifiers": [{"nameIdentifier": "10208", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "10216989", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://kaken.nii.ac.jp/ja/search/?qm=10216989"}]}, {"creatorNames": [{"creatorName": "Kozuka, Hiroaki"}], "nameIdentifiers": [{"nameIdentifier": "72385", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "80707589", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://kaken.nii.ac.jp/ja/search/?qm=80707589"}]}, {"creatorNames": [{"creatorName": "Takizawa, Kenta"}], "nameIdentifiers": [{"nameIdentifier": "109836", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Yoshida, Hirokazu"}], "nameIdentifiers": [{"nameIdentifier": "109837", "nameIdentifierScheme": "WEKO"}]}]}, "item_4_description_21": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "The present study proposes a robot arm that can support precise positioning in operation by a human. The robot arm has passive and actuated joints. The passive joint is not mechanically constrained and can move passively with the motion of the output point of the robot arm. Therefore, a human can move the output point of the robot arm by his will. When a human tries to move the output point along an object path, the displacement of the passive joint is determined passively. Then, if the actuated joint is controlled so that the output point may be on the object path, the human can achieve precise positioning. Namely, using the proposed robot arm, the human can adjust the velocity, acceleration, applied force and so on by his will, while the position is preciously compensated by the actuated joint. This paper describes a mechanical form of such robot arm for drawing of planar figures and shows that the robot arm has specific singularity condition. In order to avoid the singularity condition, the proposed robot arm interchanges the actuated joint and the passive one situationally. The study fabricated the two degrees of freedom robot arm for positioning assistance and described its control method. Furthermore, its availability is confirmed by drawing some figures.", "subitem_description_type": "Abstract"}]}, "item_4_description_5": {"attribute_name": "提供者所属", "attribute_value_mlt": [{"subitem_description": "金沢大学高度モビリティ研究所 / 金沢大学理工研究域機械工学系", "subitem_description_type": "Other"}]}, "item_4_identifier_registration": {"attribute_name": "ID登録", "attribute_value_mlt": [{"subitem_identifier_reg_text": "10.24517/00009174", "subitem_identifier_reg_type": "JaLC"}]}, "item_4_publisher_17": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本機械学会 The Japan Society of Mechanical Engineers"}]}, "item_4_relation_12": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "10.1299/transjsme.2014trans0345", "subitem_relation_type_select": "DOI"}}]}, "item_4_relation_28": {"attribute_name": "関連URI", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "https://www.jstage.jst.go.jp/browse/transjsme/-char/ja/", "subitem_relation_type_select": "URI"}}, {"subitem_relation_type_id": {"subitem_relation_type_id_text": "http://www.jsme.or.jp/", "subitem_relation_type_select": "URI"}}]}, "item_4_rights_23": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "Copyright © 2015 The Japan Society of Mechanical Engineers"}]}, "item_4_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "2187-9761", "subitem_source_identifier_type": "ISSN"}]}, "item_4_text_2": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_text_value": "Assistance for positioning of human by using the passive joint of robot arm"}, {"subitem_text_value": "the Fundamental and Application Studies in 2014"}, {"subitem_text_value": "機素潤滑設計・基礎と応用2014"}]}, "item_4_version_type_25": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_ab4af688f83e57aa", "subitem_version_type": "AM"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "立矢, 宏"}], "nameIdentifiers": [{"nameIdentifier": "131", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "10216989", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://kaken.nii.ac.jp/ja/search/?qm=10216989"}, {"nameIdentifier": "10216989", "nameIdentifierScheme": "金沢大学研究者情報", "nameIdentifierURI": "http://ridb.kanazawa-u.ac.jp/public/detail.php?kaken=10216989"}, {"nameIdentifier": "10216989", "nameIdentifierScheme": "研究者番号", "nameIdentifierURI": "https://nrid.nii.ac.jp/nrid/1000010216989"}]}, {"creatorNames": [{"creatorName": "小塚, 裕明"}], "nameIdentifiers": [{"nameIdentifier": "714", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "80707589", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://kaken.nii.ac.jp/ja/search/?qm=80707589"}, {"nameIdentifier": "80707589", "nameIdentifierScheme": "金沢大学研究者情報", "nameIdentifierURI": "http://ridb.kanazawa-u.ac.jp/public/detail.php?kaken=80707589"}, {"nameIdentifier": "80707589", "nameIdentifierScheme": "研究者番号", "nameIdentifierURI": "https://nrid.nii.ac.jp/nrid/1000080707589"}]}, {"creatorNames": [{"creatorName": "滝澤, 健太"}], "nameIdentifiers": [{"nameIdentifier": "13113", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "吉田, 博一"}], "nameIdentifiers": [{"nameIdentifier": "13114", "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": "2017-10-03"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "TE-PR-TACHIYA-H-TRANS0345.pdf", "filesize": [{"value": "612.0 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_11", "mimetype": "application/pdf", "size": 612000.0, "url": {"label": "TE-PR-TACHIYA-H-TRANS0345.pdf", "url": "https://kanazawa-u.repo.nii.ac.jp/record/9187/files/TE-PR-TACHIYA-H-TRANS0345.pdf"}, "version_id": "4c594da3-d577-416a-bba9-a6459c478c0f"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Passive joint", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Robot", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Manipulator", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Positioning", "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": "ロボットアームの受動関節を利用した人の位置決め補助に関する研究", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "ロボットアームの受動関節を利用した人の位置決め補助に関する研究"}]}, "item_type_id": "4", "owner": "3", "path": ["4187"], "permalink_uri": "https://doi.org/10.24517/00009174", "pubdate": {"attribute_name": "公開日", "attribute_value": "2017-10-03"}, "publish_date": "2017-10-03", "publish_status": "0", "recid": "9187", "relation": {}, "relation_version_is_last": true, "title": ["ロボットアームの受動関節を利用した人の位置決め補助に関する研究"], "weko_shared_id": 3}
ロボットアームの受動関節を利用した人の位置決め補助に関する研究
https://doi.org/10.24517/00009174
https://doi.org/10.24517/000091747530d769-dd38-440d-ba28-64a1e2b5d66e
名前 / ファイル | ライセンス | アクション |
---|---|---|
TE-PR-TACHIYA-H-TRANS0345.pdf (612.0 kB)
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | ロボットアームの受動関節を利用した人の位置決め補助に関する研究 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
ID登録 | ||||||
ID登録 | 10.24517/00009174 | |||||
ID登録タイプ | JaLC | |||||
その他のタイトル | ||||||
Assistance for positioning of human by using the passive joint of robot arm | ||||||
その他のタイトル | ||||||
the Fundamental and Application Studies in 2014 | ||||||
その他のタイトル | ||||||
機素潤滑設計・基礎と応用2014 | ||||||
著者 |
立矢, 宏
× 立矢, 宏× 小塚, 裕明× 滝澤, 健太× 吉田, 博一 |
|||||
著者別表示 |
Tachiya, Hiroshi
× Tachiya, Hiroshi× Kozuka, Hiroaki× Takizawa, Kenta× Yoshida, Hirokazu |
|||||
提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学高度モビリティ研究所 / 金沢大学理工研究域機械工学系 | |||||
書誌情報 |
日本機械学会論文集 = Transactions of the JSME 巻 80 ., 号 820, p. TRANS0345, 発行日 2014-12-25 |
|||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 2187-9761 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1299/transjsme.2014trans0345 | |||||
出版者 | ||||||
出版者 | 日本機械学会 The Japan Society of Mechanical Engineers | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | The present study proposes a robot arm that can support precise positioning in operation by a human. The robot arm has passive and actuated joints. The passive joint is not mechanically constrained and can move passively with the motion of the output point of the robot arm. Therefore, a human can move the output point of the robot arm by his will. When a human tries to move the output point along an object path, the displacement of the passive joint is determined passively. Then, if the actuated joint is controlled so that the output point may be on the object path, the human can achieve precise positioning. Namely, using the proposed robot arm, the human can adjust the velocity, acceleration, applied force and so on by his will, while the position is preciously compensated by the actuated joint. This paper describes a mechanical form of such robot arm for drawing of planar figures and shows that the robot arm has specific singularity condition. In order to avoid the singularity condition, the proposed robot arm interchanges the actuated joint and the passive one situationally. The study fabricated the two degrees of freedom robot arm for positioning assistance and described its control method. Furthermore, its availability is confirmed by drawing some figures. | |||||
権利 | ||||||
権利情報 | Copyright © 2015 The Japan Society of Mechanical Engineers | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/transjsme/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jsme.or.jp/ |