{"created":"2023-06-19T09:50:47.444257+00:00","id":7756,"links":{},"metadata":{"_buckets":{"deposit":"4d32c222-e047-4596-a268-e261a95e4324"},"_deposit":{"created_by":3,"id":"7756","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"7756"},"status":"published"},"_oai":{"id":"oai:fukuyama-u.repo.nii.ac.jp:00007756","sets":["502:505:675:686"]},"author_link":["41877","41873","41878","41875","41880","41876","41879","41881","41874"],"item_1_biblio_info_14":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1989","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"72","bibliographicPageStart":"65","bibliographicVolumeNumber":"11","bibliographic_titles":[{"bibliographic_title":"福山大学工学部紀要"}]}]},"item_1_creator_6":{"attribute_name":"著者名(日)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小林, 正明"}],"nameIdentifiers":[{"nameIdentifier":"41873","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"清水, 光"}],"nameIdentifiers":[{"nameIdentifier":"41874","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"菅沼, 春幸"}],"nameIdentifiers":[{"nameIdentifier":"41875","nameIdentifierScheme":"WEKO"}]}]},"item_1_description_1":{"attribute_name":"ページ属性","attribute_value_mlt":[{"subitem_description":"P(論文)","subitem_description_type":"Other"}]},"item_1_description_12":{"attribute_name":"抄録(英)","attribute_value_mlt":[{"subitem_description":"In this paper, we describe the algorithm for solving the inverse kinematic problem and the computation methods of joint torques of the revolute joint type manipulator. At first, the computation methods of joint variables from the position and the configration of end effector are considered in the case of the revolute joint type 6 link manipulator. Secondly, the manipulator dynamics equation of the revolute joint type 3 link manipulator is derived, and then, the effective inertia force, coupling inertia force, centripetal force, Coriolis force and gravity are computed in detail. Finally, using the digital simulation the variations of joint torque with respect to joint angular velocity and acceleration of 3 link manipulator are studied when it moves along a straight line.","subitem_description_type":"Other"}]},"item_1_full_name_7":{"attribute_name":"著者名よみ","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"41876","nameIdentifierScheme":"WEKO"}],"names":[{"name":"コバヤシ, マサアキ"}]},{"nameIdentifiers":[{"nameIdentifier":"41877","nameIdentifierScheme":"WEKO"}],"names":[{"name":"シミズ, ヒカル"}]},{"nameIdentifiers":[{"nameIdentifier":"41878","nameIdentifierScheme":"WEKO"}],"names":[{"name":"スガヌマ, ハルユキ"}]}]},"item_1_full_name_8":{"attribute_name":"著者名(英)","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"41879","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Kobayashi, Masaaki","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"41880","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Shimizu, Hikaru","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"41881","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Suganuma, Haruyuki","nameLang":"en"}]}]},"item_1_source_id_13":{"attribute_name":"雑誌書誌ID","attribute_value_mlt":[{"subitem_source_identifier":"AN00217655","subitem_source_identifier_type":"NCID"}]},"item_1_text_2":{"attribute_name":"記事種別(日)","attribute_value_mlt":[{"subitem_text_value":"研究報告"}]},"item_1_text_9":{"attribute_name":"著者所属(日)","attribute_value_mlt":[{"subitem_text_value":"福山大学工学部電子・電気工学科"},{"subitem_text_value":"福山大学工学部情報処理工学科"},{"subitem_text_value":"福山大学工学部電子・電気工学科"}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"1989-01-01"}],"displaytype":"detail","filename":"KJ00005781129.pdf","filesize":[{"value":"472.6 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"url":"https://fukuyama-u.repo.nii.ac.jp/record/7756/files/KJ00005781129.pdf"},"version_id":"2823b19f-b51f-442a-bce1-8b616b1e1732"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"逆問題計算法","subitem_subject_scheme":"Other"},{"subitem_subject":"関節トルク","subitem_subject_scheme":"Other"},{"subitem_subject":"求心力","subitem_subject_scheme":"Other"},{"subitem_subject":"コリオリカ","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"ロボット・マニピュレータの運動学と動力学に関する基礎的考察","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ロボット・マニピュレータの運動学と動力学に関する基礎的考察"},{"subitem_title":"Fundamental Studies on the Kinematics and Dynamics of Robot Manipulator","subitem_title_language":"en"}]},"item_type_id":"1","owner":"3","path":["686"],"pubdate":{"attribute_name":"公開日","attribute_value":"1989-01-01"},"publish_date":"1989-01-01","publish_status":"0","recid":"7756","relation_version_is_last":true,"title":["ロボット・マニピュレータの運動学と動力学に関する基礎的考察"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-06-19T10:37:29.972852+00:00"}