{"created":"2021-03-01T06:26:05.270989+00:00","id":18659,"links":{},"metadata":{"_buckets":{"deposit":"81e3a6f0-6e65-4706-b90a-be7d81ba30c8"},"_deposit":{"id":"18659","owners":[],"pid":{"revision_id":0,"type":"depid","value":"18659"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00018659","sets":["320:321:322"]},"author_link":["54307","54308","54309","54310","54311","54312"],"item_10_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"UCM Reference Feedback Control for Coordinated Motion of a Redundant Joint Arm","subitem_alternative_title_language":"en"}]},"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2013-02","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"356","bibliographicPageStart":"346","bibliographicVolumeNumber":"J96D","bibliographic_titles":[{"bibliographic_title":"電子情報通信学会論文誌D","bibliographic_titleLang":"ja"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本研究では人間の関節間協調を参考にし，冗長な関節を協調的に制御する方法を提案する．手先の目標軌道があらかじめ与えられる軌道追従問題を設定し，肩，肘，手首からなる3リンクアームでモデル化した人腕の制御方法を考える．本研究で提案する“UCM参照フィードバック制御法”では，手先の軌道に影響を与えない関節角度の組からなるUCM空間上に目標点を時々刻々選び続ける．この提案法と比較するために，あらかじめ一意な関節角軌道を生成し，それを追従する“冗長性除去制御法”を設定し，シミュレーション実験を行った．その結果，UCM参照フィードバック制御法は，冗長性除去制御法と比べて外乱へのロバスト性が向上した．また，信号依存ノイズを付加し，人間の関節間協調を定量的に評価するUCM解析を行った結果，冗長性除去制御法はUCM空間とは関係なく全方向にばらついたのに対し，UCM参照フィードバック制御法はUCM空間に沿って大きくばらついた．このことは，UCM参照フィードバック制御法が人間に見られるような関節間協調を実現できることを示している．","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"We propose an “UCM reference feedback control” which is a method for controlling a redundant joint based on the human joint coordination. We consider the tracking task in which a target trajectory of the hand is given in the 2-dimensional plane, and a 3-link arm is controlled. This method generates a target UCM space step by step. The target UCM space is a subspace where the variability of the joint combination does not affect the target trajectory. Then, the joint combination on the target UCM space is determined so as to minimize input torque and input torque change. For comparison, we also considered a redundancy elimination control method, and conducted simulation experiments. Our proposed method showed high robustness against a perturbation, and characteristics of the joint coordination same as human movement under signal dependent noise.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10_identifier_60":{"attribute_name":"URI","attribute_value_mlt":[{"subitem_identifier_type":"URI","subitem_identifier_uri":"https://search.ieice.org/"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/20758"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"電子情報通信学会","subitem_publisher_language":"ja"}]},"item_10_relation_43":{"attribute_name":"関連情報","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://search.ieice.org/","subitem_relation_type_select":"URI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2013 電子情報通信学会","subitem_rights_language":"ja"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher"}]},"item_10_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1880-4535","subitem_source_identifier_type":"PISSN"}]},"item_1615787544753":{"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_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"東郷, 俊太","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54307","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"香川, 高弘","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54308","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"宇野, 洋二","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54309","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"TOGO, Shunta","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54310","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"KAGAWA, Takahiro","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54311","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"UNO, Yoji","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54312","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-02-21"}],"displaytype":"detail","filename":"j96-d_2_346.pdf","filesize":[{"value":"1.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"j96-d_2_346.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/18659/files/j96-d_2_346.pdf"},"version_id":"84ce2d0b-32b7-42b4-b2f5-39e54f01c601"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"関節間協調","subitem_subject_scheme":"Other"},{"subitem_subject":"UCM解析","subitem_subject_scheme":"Other"},{"subitem_subject":"冗長性","subitem_subject_scheme":"Other"},{"subitem_subject":"フィードバック制御","subitem_subject_scheme":"Other"},{"subitem_subject":"冗長マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"joint coordination","subitem_subject_scheme":"Other"},{"subitem_subject":"UCM analysis","subitem_subject_scheme":"Other"},{"subitem_subject":"redundancy","subitem_subject_scheme":"Other"},{"subitem_subject":"feedback control","subitem_subject_scheme":"Other"},{"subitem_subject":"redundant manipulator","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":"冗長関節アームの協調動作のためのUCM参照フィードバック制御法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"冗長関節アームの協調動作のためのUCM参照フィードバック制御法","subitem_title_language":"ja"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-11-11"},"publish_date":"2014-11-11","publish_status":"0","recid":"18659","relation_version_is_last":true,"title":["冗長関節アームの協調動作のためのUCM参照フィードバック制御法"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:07:20.178951+00:00"}