{"created":"2023-07-27T06:50:46.144563+00:00","id":43853,"links":{},"metadata":{"_buckets":{"deposit":"3e2b96f8-f897-47c0-bd56-5f0c8b244256"},"_deposit":{"created_by":18,"id":"43853","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"43853"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00043853","sets":["2438:4190:4191"]},"author_link":["72216","71618","71364","71622","71369","72408"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"D69","bibliographicPageEnd":"340","bibliographicPageStart":"339","bibliographicVolumeNumber":"2005 Spring","bibliographic_titles":[{"bibliographic_title":"精密工学会学術講演会講演論文集"},{"bibliographic_title":"2005 JSPE Spring Meeting","bibliographic_titleLang":"en"}]}]},"item_4_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Nakamura, Kazunobu"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Asakawa, Naoki"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"Hirao, Masatoshi"}],"nameIdentifiers":[{},{}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The study deals with modularization of link parameter expression of an industrial robot. In general, off-line programming system for articulated robot consists of two parts; main-processor, which generates pose of a robot hand and post-processor, which coverts the pose to a configuration of a robot. Since many of solutions are possible, we have studied “strategic inverse kinematics” with “evaluation module” to obtain appropriate configurations in post-processor. In the article, the concept is expanded to a field of mathematical expression of a robot with “link parameter module” to ease replacement of robot type by a user. From experimental results, the system is found to be effective to improve user interface to cope with variety of types of robot.実際の作業現場において,作業の種類·状況によって複数の産業用ロボットを使用することは少なくない.本研究では,教示の際の作業者の判断基準を戦略として捉え,その戦略を評価モジュールとして解の選択を行うオフラインプログラミングシステムを開発してきたが,本報ではロボットの数学的表現であるリンクパラメータをモジュール化することにより,複数のロボットに対して解を求め,汎用性の高いOLPシステムの開発を試みた.","subitem_description_type":"Abstract"}]},"item_4_description_22":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"出版者照会後に全文公開","subitem_description_type":"Other"}]},"item_4_description_5":{"attribute_name":"提供者所属","attribute_value_mlt":[{"subitem_description":"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":"10.24517/00050195","subitem_identifier_reg_type":"JaLC"}]},"item_4_publisher_17":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"精密工学会 = The Japan Society for Precision Engineering"}]},"item_4_relation_11":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"BA90159927","subitem_relation_type_select":"NCID"}}]},"item_4_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.11522/pscjspe.2005S.0.208.0","subitem_relation_type_select":"DOI"}}]},"item_4_relation_28":{"attribute_name":"関連URI","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"http://www.jspe.or.jp/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://www.jspe.or.jp/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"http://www.jspe.or.jp/publication/ext_site/jstage/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://www.jspe.or.jp/publication/ext_site/jstage/","subitem_relation_type_select":"URI"}}]},"item_4_rights_23":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright © The Japan Society for Precision Engineering"}]},"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_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"中村, 一悦"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浅川, 直紀"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"平尾, 政利"}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-06-15"}],"displaytype":"detail","filename":"TE-PR-ASAKAWA-N-339.pdf","filesize":[{"value":"123.2 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-ASAKAWA-N-339.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/43853/files/TE-PR-ASAKAWA-N-339.pdf"},"version_id":"39a09898-93f5-4830-9e1d-5d7d8493fa6c"}]},"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":"戦略的逆運動学による産業用ロボットのオフラインプログラミング: リンクパラメータ表現のモジュール化","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"戦略的逆運動学による産業用ロボットのオフラインプログラミング: リンクパラメータ表現のモジュール化"},{"subitem_title":"Off-Line Programming System with Strategic Inverse Kinematics for Industrial Robot: Modularization of Link Parameter Expression","subitem_title_language":"en"}]},"item_type_id":"4","owner":"18","path":["4191"],"pubdate":{"attribute_name":"公開日","attribute_value":"2018-06-15"},"publish_date":"2018-06-15","publish_status":"0","recid":"43853","relation_version_is_last":true,"title":["戦略的逆運動学による産業用ロボットのオフラインプログラミング: リンクパラメータ表現のモジュール化"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-07-27T10:26:08.415258+00:00"}