{"created":"2023-07-27T07:01:23.660609+00:00","id":61677,"links":{},"metadata":{"_buckets":{"deposit":"b7ff0272-b7f7-40a5-9212-c3ff1b494bc8"},"_deposit":{"created_by":18,"id":"61677","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"61677"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00061677","sets":["2812:2813:2846"]},"author_link":["107459"],"item_9_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1989-03-29","bibliographicIssueDateType":"Issued"},"bibliographicPageStart":"2p.","bibliographicVolumeNumber":"1986 – 1987","bibliographic_titles":[{"bibliographic_title":"昭和62(1987)年度 科学研究費補助金 一般研究(C) 研究成果報告書概要"},{"bibliographic_title":"1987 Fiscal Year Final Research Report Summary","bibliographic_titleLang":"en"}]}]},"item_9_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Inamura, Toyoshiro"}],"nameIdentifiers":[{"nameIdentifier":"107459","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"60107539","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=60107539"}]}]},"item_9_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本研究では, ロボット駆動用モータへの印加電圧からハンドの運動速度への伝達関数の測定と, これに基づく高速運動時の挙動予測及び制御を行い, 以下の結論を得た.\n1.実験モーダルアナリシスの手法により測定される伝達関数は, ロボットの姿勢により変化する. そこで一連の動作行程をいくつかの区間に分割し, 各区間内の代表的位置で伝達関数を測定し, これを本研究で定式化したアームのたわみを考慮したロボットの運動方程式に逐次代入すれば, 高速運動時の挙動が予測できる. この予測結果を実測結果と比較したところ極めて良い一致をみた.\n2.上記1の結果をふまえ, 逆に, 与えられたハンドの運動速度パターンを実現する為の入力電圧を計算することができる. このようにして得られた電圧波形をロボットに入力駆動したところ, 運動中の振動及び動作終了後の残留振動ともに大幅に抑制され, 設計された通りのハンドの運動が実現されることが確認された.\n3.測定される伝達関数の非線形性について原因別に分類し, 各々についてその程度を調べた.\n(1)姿勢変化による非線形性;影響が大きいので既述のように区分線形化の手法により対処した.\n(2)減速器など機構上の非線形;伝達関数を測定する際, 入力パルマの高さを変えて伝達関数の変化を調べた. その結果, 減衰特性に入力依存性が認められた.\n(3)ユリオリカや遠心力による非線形;多軸同時駆動の場合軸間の干渉として現れるので干渉の程度を調べた. その結果, 通常の駆動速度では無視できることが判明した.","subitem_description_type":"Abstract"},{"subitem_description":"A new control method for a flexible robot arm has been developed. First, two methods for piecewise linearized representation of the input-output relation between a control command and the resulting end effector motion have been proposed such that they include the effect of arm flexibility through the use of measured transfer function data of the input-output relation. These methods are then used for predicting a vibratory motion of the end effector which is commanded by a trapezoidal velocity pattern to obtain a good correspondence with the actual motion. Finally, based on the results obtained above, a method to compute the control command which realizes a desired smooth motion has been developed as the inverse method of the above motion prediction. Experimental results show considerable suppression of flexibility-induced vibration of the robot arm.","subitem_description_type":"Abstract"}]},"item_9_description_22":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究課題/領域番号:61550092, 研究期間(年度):1986 – 1987","subitem_description_type":"Other"},{"subitem_description":"出典：研究課題「モーダルアナリシスを応用したフレキシブルロボット」課題番号61550092\n（KAKEN：科学研究費助成事業データベース（国立情報学研究所）） \n（https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-61550092/615500921987kenkyu_seika_hokoku_gaiyo/）を加工して作成","subitem_description_type":"Other"}]},"item_9_description_5":{"attribute_name":"提供者所属","attribute_value_mlt":[{"subitem_description":"金沢大学工学部","subitem_description_type":"Other"}]},"item_9_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24517/00067920","subitem_identifier_reg_type":"JaLC"}]},"item_9_relation_28":{"attribute_name":"関連URI","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/search/?qm=60107539"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/search/?qm=60107539","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-61550092/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-61550092/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-61550092/615500921987kenkyu_seika_hokoku_gaiyo/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-61550092/615500921987kenkyu_seika_hokoku_gaiyo/","subitem_relation_type_select":"URI"}}]},"item_9_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":"稲村, 豊四郎"}],"nameIdentifiers":[{"nameIdentifier":"107459","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"60107539","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=60107539"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2022-11-11"}],"displaytype":"detail","filename":"TE-PR-INAMURA-T-kaken 1989-2p.pdf","filesize":[{"value":"91.4 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-INAMURA-T-kaken 1989-2p.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/61677/files/TE-PR-INAMURA-T-kaken 1989-2p.pdf"},"version_id":"9ea22c02-0044-4a70-bc2d-24cd6b2c6ddc"}]},"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":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"モーダルアナリシスを応用したフレキシブルロボット","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"モーダルアナリシスを応用したフレキシブルロボット"},{"subitem_title":"High-Speed Motion Control of a Flexible Robot by Using Experimental Modal Analysis","subitem_title_language":"en"}]},"item_type_id":"9","owner":"18","path":["2846"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-11-11"},"publish_date":"2022-11-11","publish_status":"0","recid":"61677","relation_version_is_last":true,"title":["モーダルアナリシスを応用したフレキシブルロボット"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2024-07-01T06:53:18.861268+00:00"}