{"created":"2023-06-19T10:35:03.389813+00:00","id":942,"links":{},"metadata":{"_buckets":{"deposit":"0a0a8b44-533b-4326-a1c9-dbc4082c606a"},"_deposit":{"created_by":14,"id":"942","owners":[14],"pid":{"revision_id":0,"type":"depid","value":"942"},"status":"published"},"_oai":{"id":"oai:ous.repo.nii.ac.jp:00000942","sets":["296:314:325"]},"author_link":[],"item_1_biblio_info_14":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1992-03-20","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"175","bibliographicPageStart":"163","bibliographicVolumeNumber":"27","bibliographic_titles":[{"bibliographic_title":"岡山理科大学紀要. A, 自然科学","bibliographic_titleLang":"ja"},{"bibliographic_title":"Bulletin of Okayama University of Science. A, Natural Sciences","bibliographic_titleLang":"en"}]}]},"item_1_creator_6":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"逢坂, 一正","creatorNameLang":"ja"},{"creatorName":"オオサカ, カズマサ","creatorNameLang":"ja-Kana"},{"creatorName":"Ohsaka, Kazumasa","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"藤本, 真作","creatorNameLang":"ja"},{"creatorName":"フジモト, シンサク","creatorNameLang":"ja-Kana"},{"creatorName":"Fujimoto, Shinsaku","creatorNameLang":"en"}]}]},"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 propose a robust control scheme which achieves trajectory tracking with prescribed accuracy for robot manipulators with bounded unknown parameters and different characteristics of servo-motor for direction of the rotation. This scheme is based on Lyapunov stability theorem, and the Liapunov function is constructed using the inertia matrix. The control law takes a very simple form based on the assumption that the dynamic equation can be expressed as a sum of products of unobservable matrices which contain unknown parameters and observable state vectors. The effectiveness of the proposed control scheme is shown by experimental results using a 2 degree-of-freedom manipulator.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_1_source_id_13":{"attribute_name":"雑誌書誌ID","attribute_value_mlt":[{"subitem_source_identifier":"AN00033244","subitem_source_identifier_type":"NCID"}]},"item_1_text_10":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Engineering, Okayama University of Science"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Engineering, Okayama University of Science"}]},"item_1_text_9":{"attribute_name":"著者所属(日)","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"岡山理科大学工学部機械工学科"},{"subitem_text_language":"ja","subitem_text_value":"岡山理科大学工学部機械工学科"}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"1992-03-20"}],"displaytype":"detail","filename":"KJ00000063495.pdf","filesize":[{"value":"425.7 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"url":"https://ous.repo.nii.ac.jp/record/942/files/KJ00000063495.pdf"},"version_id":"e59626b1-38b4-456a-8e48-000b7a95fec9"}]},"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ロバストな軌道制御","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ロバストな軌道制御","subitem_title_language":"ja"},{"subitem_title":"Robust Trajectory Control for Robot Manipulators","subitem_title_language":"en"},{"subitem_title":"ロボット マニピュレータ ノ ロバスト ナ キドウ セイギョ","subitem_title_language":"ja-Kana"}]},"item_type_id":"1","owner":"14","path":["325"],"pubdate":{"attribute_name":"PubDate","attribute_value":"1992-03-20"},"publish_date":"1992-03-20","publish_status":"0","recid":"942","relation_version_is_last":true,"title":["ロボットマニピュレータのロバストな軌道制御"],"weko_creator_id":"14","weko_shared_id":-1},"updated":"2023-09-27T06:30:57.737412+00:00"}