{"created":"2023-05-15T15:25:56.686472+00:00","id":13763,"links":{},"metadata":{"_buckets":{"deposit":"fed07d79-e25a-407b-bb08-e8f657662ba9"},"_deposit":{"created_by":3,"id":"13763","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"13763"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00013763","sets":["94:426"]},"author_link":["23016","16511","23014","23015"],"item_119_alternative_title_1":{"attribute_name":"タイトル（別言語）","attribute_value_mlt":[{"subitem_alternative_title":"Development of Pneumatic Artificial Muscle Manipulator with Feedforward and Feedback Control(Mechanical Systems)"}]},"item_119_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"748","bibliographicPageEnd":"3011","bibliographicPageStart":"3004","bibliographicVolumeNumber":"74","bibliographic_titles":[{"bibliographic_title":"日本機械学會論文集. C編"},{"bibliographic_title":"Transactions of the Japan Society of Mechanical Engineers. C","bibliographic_titleLang":"en"}]}]},"item_119_date_31":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2010-02-24","subitem_date_issued_type":"Created"}]},"item_119_description_19":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"A McKibben artificial muscle is a good candidate as an actuator of man-machine systems although it has quite slow response. This study proposes a control method, which integrates feedforward control and feedback control, to achieve rapid response. The feedforward input is given from a database acquired by global identification since a robot arm with McKibben artificial muscles has a complicated model. An identification error is mainly caused by mechanical hysteresis on the McKibben artificial muscle. Therefore, a technical solution to reduce the effect of mechanical hysteresis is introduced. Experimental results show that the convergence performance is much improved by the proposed method. Input shaping by a sin curve reduces oscillation and further improves the convergence performance. The main issue of the method is that it takes much effort for the global identification on many sample points. Hence, experimental results with reduced number of identification points are shown and their control performances are compared.","subitem_description_type":"Abstract"}]},"item_119_description_21":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"rights: 社団法人日本機械学会\nrights: 本文データは学協会の許諾に基づきCiNiiから複製したものである\nrelation: IsVersionOf:http://ci.nii.ac.jp/naid/110007008109/","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":"社団法人日本機械学会"}]},"item_119_source_id_14":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03875024","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":"MIYATA, Syunsuke"},{"subitem_text_value":"TSUJI, Toshiaki"},{"subitem_text_value":"HASHIMOTO, Takuya"},{"subitem_text_value":"KOBAYASHI, Hiroshi"}]},"item_119_text_32":{"attribute_name":"アイテムID","attribute_value_mlt":[{"subitem_text_value":"A1003348"}]},"item_119_text_4":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"(株)神戸製鋼所"},{"subitem_text_value":"埼玉大学工学部"},{"subitem_text_value":"東京理科大学工学部"},{"subitem_text_value":"東京理科大学工学部"}]},"item_119_text_5":{"attribute_name":"著者 所属(別言語)","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"Department of Electrical and Electronic Systems, Faculty of Engineering, Saitama University"}]},"item_119_text_9":{"attribute_name":"年月次","attribute_value_mlt":[{"subitem_text_value":"2008-1"}]},"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":"宮田, 俊介"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"辻, 俊明"},{"creatorName":"ツジ, トシアキ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"橋本, 卓弥"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小林, 宏"}],"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":"A1003348.pdf","filesize":[{"value":"671.8 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A1003348.pdf","url":"https://sucra.repo.nii.ac.jp/record/13763/files/A1003348.pdf"},"version_id":"47c84c33-60ea-4fa1-ac6f-cd13b00753f0"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Motion Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Artificial Muscle","subitem_subject_scheme":"Other"},{"subitem_subject":"McKibben Artificial Muscle","subitem_subject_scheme":"Other"},{"subitem_subject":"Pneumatic Actuator","subitem_subject_scheme":"Other"},{"subitem_subject":"Feedforward Control","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":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発(機械力学,計測,自動制御)","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発(機械力学,計測,自動制御)"}]},"item_type_id":"119","owner":"3","path":["426"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-02-24"},"publish_date":"2010-02-24","publish_status":"0","recid":"13763","relation_version_is_last":true,"title":["フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発(機械力学,計測,自動制御)"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-05-16T12:24:26.746240+00:00"}