{"_buckets": {"deposit": "2f784c9e-2276-41f5-a82e-849af55a6545"}, "_deposit": {"id": "5265", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "5265"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00005265", "sets": ["322"]}, "author_link": ["13316", "13317", "13318"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2004-12", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "1", "bibliographicPageEnd": "112", "bibliographicPageStart": "107", "bibliographicVolumeNumber": "1", "bibliographic_titles": [{"bibliographic_title": "IEEE Conference on Robotics, Automation and Mechatronics", "bibliographic_titleLang": "en"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "Since the two-link flexible manipulator is an underactuated system which provide a challenge to control engineers and researchers. In order to control this kind of systems more effectively, many new control theories and methods are explored to use to design controller. Among these methods, the energy-based control design method has gained a lot of attentions in these years, which can provide more physical insights in nonlinear control. Especially, the port-controlled Hamiltonian system and generalized canonical transformation has some advantages on the modeling and control design of these nonlinear systems. In this paper, we proposed a control design for two-link flexible manipulators via generalized canonical transformation, and the simulation results are shown to prove the effectiveness of the controllers.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/6852"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "IEEE", "subitem_publisher_language": "en"}]}, "item_10_relation_11": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.1109/RAMECH.2004.1438900", "subitem_relation_type_select": "DOI"}}]}, "item_10_rights_12": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "Copyright © 2004 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or 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 must be obtained from the IEEE by writing to pubs-permissions@ieee.org.", "subitem_rights_language": "en"}]}, "item_10_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_text_14": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_text_value": "application/pdf"}]}, "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": "Bo, Xu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "13316", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Fujimoto, Kenji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "13317", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Hayakawa, Yoshikazu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "13318", "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": "2018-02-19"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "ram04.pdf", "filesize": [{"value": "1.9 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1900000.0, "url": {"label": "ram04.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/5265/files/ram04.pdf"}, "version_id": "0ac1fafb-4c42-435d-a4ea-95f8f9f97e9b"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Flexible manipulators", "subitem_subject_scheme": "Other"}, {"subitem_subject": "energy shaping", "subitem_subject_scheme": "Other"}, {"subitem_subject": "port-controlled Hamiltonian system", "subitem_subject_scheme": "Other"}, {"subitem_subject": "generalized canonical transformation", "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": "Control of two-link flexible manipulators via generalized canonical transformation", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Control of two-link flexible manipulators via generalized canonical transformation", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/6852", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2006-08-22"}, "publish_date": "2006-08-22", "publish_status": "0", "recid": "5265", "relation": {}, "relation_version_is_last": true, "title": ["Control of two-link flexible manipulators via generalized canonical transformation"], "weko_shared_id": -1}