{"created":"2023-06-20T16:33:56.771653+00:00","id":3002,"links":{},"metadata":{"_buckets":{"deposit":"7a26d07e-a43f-4454-9c6c-34fcc693baf3"},"_deposit":{"created_by":3,"id":"3002","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"3002"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:00003002","sets":["14:2667:2701:2705","21:2669:2703:2704"]},"author_link":["3228"],"item_8_alternative_title_3":{"attribute_name":"その他（別言語等）のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"３D Magic-Hand Manipulator and the Control Method"}]},"item_8_biblio_info_21":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-01-01","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"5","bibliographicPageStart":"1","bibliographic_titles":[{"bibliographic_title":"科学研究費補助金研究成果報告書 (2008. )"}]}]},"item_8_description_33":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"一般的に、超多関節マニピュレータのような冗長系ロボットは逆運動学問題を解くのが困難で、また数値解析法の利用ではリアルタイムな制御ができない。そこで本研究では、三次元空間に一本の曲線を想定し、それにアームを沿わせることでマニピュレータの姿勢を構築するようにした。そのために、マニピュレータは、３自由度の関節ユニットをシリアル方向に連結した構造とした。そして各関節ユニットは、Z軸方向の伸縮とX／Y軸回りの屈曲が可能な３自由度を持つパラレルメカニズムを採用した。このパラレルメカニズムは閉リンク構造であり、剛性が高く、逆運動学解析が比較的簡単に求まる。この新しいマニピュレータについて機構解析し、また試作装置のコンプライアンス特性、位置決め精度などを測定した。その結果、本装置の実施対象である果実収穫作業への適用に有効であることを示した。","subitem_description_type":"Abstract"}]},"item_8_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究種目：基盤研究（C）; 研究期間：2007～2008; 課題番号：19560267; 研究分野：工学 科研費の分科・細目：機械工学・知能機械学・機械システム","subitem_description_type":"Other"}]},"item_8_description_37":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Research Paper","subitem_description_type":"Other"}]},"item_8_description_41":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_8_publisher_14":{"attribute_name":"出版者 名前","attribute_value_mlt":[{"subitem_publisher":"近畿大学"}]},"item_8_relation_11":{"attribute_name":"著者 外部リンク","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"http://rns.nii.ac.jp/nr/1000060368371"}]}]},"item_8_text_10":{"attribute_name":"著者 役割","attribute_value_mlt":[{"subitem_text_value":"研究代表者"}]},"item_8_text_7":{"attribute_name":"著者(英)","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"NAKAGAWA, HIDEO"}]},"item_8_text_8":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"近畿大学・生物理工学部・准教授"}]},"item_8_version_type_12":{"attribute_name":"版","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":"中川,  秀夫"},{"creatorName":"ナカガワ, ヒデオ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-02-17"}],"displaytype":"detail","filename":"KAKEN_19560267seika.pdf","filesize":[{"value":"432.9 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"KAKEN_19560267seika.pdf","url":"https://kindai.repo.nii.ac.jp/record/3002/files/KAKEN_19560267seika.pdf"},"version_id":"e34e95f7-11c1-4ee1-8459-cca46de2b516"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボティクス","subitem_subject_scheme":"Other"},{"subitem_subject":"パラレルメカニズム","subitem_subject_scheme":"Other"},{"subitem_subject":"機械要素","subitem_subject_scheme":"Other"},{"subitem_subject":"制御工学","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":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"三次元マジックハンドとその制御法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"三次元マジックハンドとその制御法"}]},"item_type_id":"8","owner":"3","path":["2704","2705"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-01-18"},"publish_date":"2010-01-18","publish_status":"0","recid":"3002","relation_version_is_last":true,"title":["三次元マジックハンドとその制御法"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-06-21T01:49:44.082714+00:00"}