{"created":"2023-05-15T15:22:47.247268+00:00","id":9326,"links":{},"metadata":{"_buckets":{"deposit":"add35e75-0e5d-47b2-8033-8d0f2da42ca0"},"_deposit":{"created_by":3,"id":"9326","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"9326"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00009326","sets":["94:667"]},"author_link":["16550","16511","16551"],"item_112_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"1924","bibliographicPageStart":"1919","bibliographic_titles":[{"bibliographic_title":"the 31st Annual Conference of the Industrial Electronics Society, IECON 2005"}]}]},"item_112_date_31":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2008-02-07","subitem_date_issued_type":"Created"}]},"item_112_description_19":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper focuses on a bandwidth and a delay of force sensing. High bandwidth force sensing is important for motion control systems to cope with unknown environments. Reaction torque observer is utilized instead of force sensors to detect external force in this paper. The bandwidth of force sensing is limited by the sampling period and data noise. The delay in force information may deteriorate the performance of force control since force information is fed back. According to these considerations, this paper proposes application of a multirate sampling method to the force control system. Reaction torque observer is modified for the multirate system. The bandwidth of force sensing can be improved and the delay in force information can be decreased with the proposed method. The validity of the proposal is verified by stability analysis, simulation and experimental results.","subitem_description_type":"Abstract"}]},"item_112_description_21":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"(c)2005 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_112_description_29":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"text","subitem_description_type":"Other"}]},"item_112_publisher_11":{"attribute_name":"出版者名","attribute_value_mlt":[{"subitem_publisher":"IEEE-Institute of Electrical and Electronics Engineers, Inc"}]},"item_112_text_27":{"attribute_name":"版","attribute_value_mlt":[{"subitem_text_value":"[出版社版]"}]},"item_112_text_3":{"attribute_name":"著者 ローマ字","attribute_value_mlt":[{"subitem_text_value":"Mizuochi, Mariko"},{"subitem_text_value":"Toshiaki, Tsuji"},{"subitem_text_value":"Ohnishi, Kouhei"}]},"item_112_text_32":{"attribute_name":"アイテムID","attribute_value_mlt":[{"subitem_text_value":"A1002448"}]},"item_112_text_4":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"慶應義塾大学理工学部システムデザイン工学科"}]},"item_112_text_5":{"attribute_name":"著者 所属(別言語)","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"Faculty of Science and Technology, Department of System Design Engineering, Keio University"}]},"item_112_text_9":{"attribute_name":"年月次","attribute_value_mlt":[{"subitem_text_value":"2005-11"}]},"item_112_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":"水落, 麻里子"},{"creatorName":"ミズオチ, マリコ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]},{"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":"2018-01-22"}],"displaytype":"detail","filename":"A1002448.pdf","filesize":[{"value":"871.3 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A1002448.pdf","url":"https://sucra.repo.nii.ac.jp/record/9326/files/A1002448.pdf"},"version_id":"5bb6f190-88c9-409f-88fd-bc1e9a47a412"}]},"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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Force Sensing and Force Control Using Multirate Sampling Method","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Force Sensing and Force Control Using Multirate Sampling Method"}]},"item_type_id":"112","owner":"3","path":["667"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-02-07"},"publish_date":"2008-02-07","publish_status":"0","recid":"9326","relation_version_is_last":true,"title":["Force Sensing and Force Control Using Multirate Sampling Method"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-05-15T19:08:10.746875+00:00"}