{"created":"2023-05-15T15:25:25.294169+00:00","id":13046,"links":{},"metadata":{"_buckets":{"deposit":"dcb3e6b4-20ce-488f-9f53-610e95ecb19f"},"_deposit":{"created_by":3,"id":"13046","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"13046"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00013046","sets":["94:426"]},"author_link":["20831","16511"],"item_119_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicPageEnd":"3343","bibliographicPageStart":"3335","bibliographicVolumeNumber":"54","bibliographic_titles":[{"bibliographic_title":"IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS"}]}]},"item_119_date_31":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2008-01-18","subitem_date_issued_type":"Created"}]},"item_119_description_19":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Robots are expected to expand their range of activities to human environment. Robots in human environment need redundancy for environmental adaptation. Furthermore, they have to automatically modify their controllers in response to varying conditions of the environment. Therefore, the authors have proposed a method to design a hyper-degrees-of-freedom (DOF) control system efficiently. The method decouples a large control system into small independent components called \"function.\" Motion of the entire control system is expressed as superposition of multiple functions. Combination of some functions realizes many patterns of motion. Hence, various motions are realized with much smaller efforts on controller design. Additionally, the controller design is explicit since a controller and a function correspond directly. This paper expands the method to multi-DOF robots in 3-D space, since the conventional method was limited to a multirobot system in 1-D space. A new problem of interference among function-based systems occurs along with the expansion. A disturbance observer is applied on each actuator to eliminate the interference. Procedures of controller design under varying conditions are also shown. The proposed method is applied to a grasping manipulator with 18 DOE Its experimental results show the validity of the method.","subitem_description_type":"Abstract"}]},"item_119_description_21":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"(c)2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.","subitem_description_type":"Other"}]},"item_119_description_29":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"text","subitem_description_type":"Other"}]},"item_119_description_30":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_119_publisher_11":{"attribute_name":"出版者名","attribute_value_mlt":[{"subitem_publisher":"IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC"}]},"item_119_relation_16":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"info:doi/10.1109/TIE.2007.906175","subitem_relation_type_select":"DOI"}}]},"item_119_source_id_14":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02780046","subitem_source_identifier_type":"ISSN"}]},"item_119_text_27":{"attribute_name":"版","attribute_value_mlt":[{"subitem_text_value":"[出版社版]"}]},"item_119_text_3":{"attribute_name":"著者 ローマ字","attribute_value_mlt":[{"subitem_text_value":"Tsuji, Toshiaki"},{"subitem_text_value":"Ohnishi, Kouhei"},{"subitem_text_value":"Sabanovic, Asif"}]},"item_119_text_32":{"attribute_name":"アイテムID","attribute_value_mlt":[{"subitem_text_value":"A1002391"}]},"item_119_text_4":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"埼玉大学大学院理工学研究科数理電子情報部門"}]},"item_119_text_5":{"attribute_name":"著者 所属(別言語)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Science and Engineering, Saitama University"}]},"item_119_text_9":{"attribute_name":"年月次","attribute_value_mlt":[{"subitem_text_value":"2007-12"}]},"item_119_version_type_28":{"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":"辻, 俊明"},{"creatorName":"ツジ, トシアキ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"大西, 公平"},{"creatorName":"オオニシ, コウヘイ","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":"2018-01-24"}],"displaytype":"detail","filename":"A1002391.pdf","filesize":[{"value":"1.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A1002391.pdf","url":"https://sucra.repo.nii.ac.jp/record/13046/files/A1002391.pdf"},"version_id":"05d91f33-8d4e-4465-8aa7-dc988c1f8297"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"acceleration control","subitem_subject_scheme":"Other"},{"subitem_subject":"decentralized control","subitem_subject_scheme":"Other"},{"subitem_subject":"disturbance observer (DOB)","subitem_subject_scheme":"Other"},{"subitem_subject":"fault tolerance","subitem_subject_scheme":"Other"},{"subitem_subject":"mechatronics","subitem_subject_scheme":"Other"},{"subitem_subject":"motion control","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"A controller design method based on functionality","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"A controller design method based on functionality"}]},"item_type_id":"119","owner":"3","path":["426"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-01-18"},"publish_date":"2008-01-18","publish_status":"0","recid":"13046","relation_version_is_last":true,"title":["A controller design method based on functionality"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-05-16T12:42:13.262158+00:00"}