{"created":"2023-07-27T06:25:00.385418+00:00","id":8127,"links":{},"metadata":{"_buckets":{"deposit":"d73914c0-21e1-4051-bde6-7a684c482251"},"_deposit":{"created_by":3,"id":"8127","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"8127"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00008127","sets":["4163:4171:4187"]},"author_link":["14040","11255","131","2573","10208","71369"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-02-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"750","bibliographicPageEnd":"269","bibliographicPageStart":"262","bibliographicVolumeNumber":"75","bibliographic_titles":[{"bibliographic_title":"Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C"}]}]},"item_4_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Hayashi, Michihiro"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tachiya, Hiroshi"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"Asakawa, Naoki"}],"nameIdentifiers":[{},{}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a method to determine a trajectory with suppressed dynamic torque for a multi-DOF manipulator by a heuristic algorithm. Generally, optimization for a trajectory considering dynamic property of a multi-DOF manipulator is difficult since it has nonlinear and multi-peak characteristics. Although a lot of studies proposed the methods to optimize its trajectory, they often need complicated operation and calculation. Those methods are not always adapted to actual multi- DOF manipulators. Thus, a practical method using a heuristic algorithm that does not need complicated mathematical calculations is presented. In this paper, we aim to suppress required torques of the input joints of a manipulator in the solution. As a case study, we apply the method to an actual steel sheet handling manipulator over 1 500 kg in weighs with 5-DOF. From the experimental result, it is found to be effective to determine the trajectory with suppressed torques of the input joints for the manipulator maintaining the required working conditions.","subitem_description_type":"Abstract"}]},"item_4_description_5":{"attribute_name":"提供者所属","attribute_value_mlt":[{"subitem_description":"金沢大学大学院自然科学研究科","subitem_description_type":"Other"},{"subitem_description":"金沢大学医薬保健研究域薬学系","subitem_description_type":"Other"}]},"item_4_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24517/00008114","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_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0387-5024","subitem_source_identifier_type":"ISSN"}]},"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":"林, 道大"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"立矢, 宏"}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"浅川, 直紀"}],"nameIdentifiers":[{},{}]}]},"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","filename":"TE-PR-HAYASHI-M-262.pdf","filesize":[{"value":"269.6 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-HAYASHI-M-262.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/8127/files/TE-PR-HAYASHI-M-262.pdf"},"version_id":"b775c6d9-dcea-4145-9f76-f9eb7c96bf5a"}]},"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":"発見的手法を用いた多自由度マニピュレータの軌道決定","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"発見的手法を用いた多自由度マニピュレータの軌道決定"},{"subitem_title":"Determination of trajectory for a multi-DOF manipulator by heuristic algorithms (implementation approach for the suppression of dynamic torque of a steel sheet handling: manipulator)","subitem_title_language":"en"}]},"item_type_id":"4","owner":"3","path":["4187"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-10-03"},"publish_date":"2017-10-03","publish_status":"0","recid":"8127","relation_version_is_last":true,"title":["発見的手法を用いた多自由度マニピュレータの軌道決定"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-07-27T10:25:58.273648+00:00"}