{"created":"2024-11-25T00:21:20.691429+00:00","id":2006362,"links":{},"metadata":{"_buckets":{"deposit":"50993c18-1747-420d-b961-ded96d5abcfa"},"_deposit":{"created_by":9,"id":"2006362","owners":[9],"pid":{"revision_id":0,"type":"depid","value":"2006362"},"status":"published"},"_oai":{"id":"oai:wakayama-u.repo.nii.ac.jp:02006362","sets":["1728440704509:1728440737901","1729487126642:1729478157055:1729485478882"]},"author_link":[],"control_number":"2006362","item_1617186331708":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"自由度が制限された多指ハンドロボットにおける対象物運動と内力の選択と制御","subitem_title_language":"ja"},{"subitem_title":"Selection and Control of Object Motion and Internal Force for Grasping/Manipulation by Multi-fingered Robot Hands with Constrained DOF","subitem_title_language":"en"},{"subitem_title":"ジユウド ガ セイゲン サレタ タシ ハンドロボット ニ オケル タイショウブツ ウンドウ ト ナイリョク ノ センタク ト セイギョ","subitem_title_language":"ja-Kana"}]},"item_1617186419668":{"attribute_name":"作成者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNames":[{"affiliationName":"和歌山大学","affiliationNameLang":"ja"},{"affiliationName":"Wakayama University","affiliationNameLang":"en"}]}],"creatorNames":[{"creatorName":"長瀬, 賢二","creatorNameLang":"ja","creatorNameType":"Personal"},{"creatorName":"NAGASE, Kenji","creatorNameLang":"en","creatorNameType":"Personal"},{"creatorName":"ナガセ, ケンジ","creatorNameLang":"ja-Kana","creatorNameType":"Personal"}],"nameIdentifiers":[{"nameIdentifier":"100000671_ja.html","nameIdentifierScheme":"研究者総覧","nameIdentifierURI":"https://researchers.center.wakayama-u.ac.jp/html/100000671_ja.html"},{"nameIdentifier":"nagase_kenji","nameIdentifierScheme":"researchmap","nameIdentifierURI":"https://researchmap.jp/nagase_kenji"}]},{"creatorAffiliations":[{"affiliationNames":[{"affiliationName":"株式会社京都製作所","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"藤田, 健次","creatorNameLang":"ja","creatorNameType":"Personal"},{"creatorName":"FUJITA, Kenji","creatorNameLang":"en","creatorNameType":"Personal"},{"creatorName":"フジタ, ケンジ","creatorNameLang":"ja-Kana","creatorNameType":"Personal"}]}]},"item_1617186499011":{"attribute_name":"権利情報","attribute_value_mlt":[{"subitem_rights":"© 2011 公益社団法人 計測自動制御学会","subitem_rights_language":"ja"}]},"item_1617186626617":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"This paper is concerned with a control design method for multi-fingered robot hands, whose degrees of freedom (DOF) are not enough to control all of the components of the object motion and the internal force. In the control design of the multi-fingered robot hands, controllers are usually designed for the variables with respect to the object motion and the internal force, under the assumption that the systems have enough DOF to control all the components of them. However, if we consider the systems with fewer DOF, although the control variables directly linked to the components of the object motion and the internal force will be preferable for the grasping/manipulation tasks, control design methodology to meet such requirements has not been established yet. In this paper, we consider the systems whose DOF are not enough to control all of the components of the object motion and the internal force, and propose a control design method whose control variables are directly linked to the components of the object motion and the internal force. The control variables can be specified as functions of the object motion and the internal force directly, and a linearizing compensator for the variables is derived. A numerical example of a robot hand with interlocking joints is shown to prove effectiveness of the proposed method.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_1617186643794":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"計測自動制御学会","subitem_publisher_language":"ja"}]},"item_1617186702042":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_1617186920753":{"attribute_name":"収録物識別子","attribute_value_mlt":[{"subitem_source_identifier":"04534654","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"AN00072392","subitem_source_identifier_type":"NCID"}]},"item_1617187056579":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2011","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"190","bibliographicPageStart":"181","bibliographicVolumeNumber":"47","bibliographic_titles":[{"bibliographic_title":"計測自動制御学会論文集","bibliographic_titleLang":"ja"},{"bibliographic_title":"Transactions of the Society of Instrument and Control Engineers","bibliographic_titleLang":"en"}]}]},"item_1617265215918":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_1617353299429":{"attribute_name":"関連情報","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.9746/sicetr.47.181","subitem_relation_type_select":"DOI"}},{"subitem_relation_type_id":{"subitem_relation_type_id_text":"1390001204504314240","subitem_relation_type_select":"CRID"}}]},"item_1617604990215":{"attribute_name":"ファイル","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2024-11-11"}],"displaytype":"detail","filename":"sicetr.47.181.pdf","filesize":[{"value":"1.0 MB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"objectType":"fulltext","url":"https://wakayama-u.repo.nii.ac.jp/record/2006362/files/sicetr.47.181.pdf"},"version_id":"ffa6772a-c74c-4ac2-a89b-789ed85f3be6"}]},"item_1725499675744":{"attribute_name":"item_1725499675744","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"自由度が制限された多指ハンドロボットにおける対象物運動と内力の選択と制御","item_type_id":"40002","owner":"9","path":["1728440737901","1729485478882"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-11-11"},"publish_date":"2024-11-11","publish_status":"0","recid":"2006362","relation_version_is_last":true,"title":["自由度が制限された多指ハンドロボットにおける対象物運動と内力の選択と制御"],"weko_creator_id":"9","weko_shared_id":-1},"updated":"2025-03-21T08:24:56.114814+00:00"}