{"created":"2024-05-10T04:52:58.116632+00:00","id":2000615,"links":{},"metadata":{"_buckets":{"deposit":"0068dc34-57d2-4b43-aa84-935337276ea5"},"_deposit":{"created_by":14,"id":"2000615","owner":"14","owners":[14],"pid":{"revision_id":0,"type":"depid","value":"2000615"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:02000615","sets":["8:24"]},"author_link":["2754"],"control_number":"2000615","item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-11-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"11","bibliographicPageEnd":"399","bibliographicPageStart":"392","bibliographicVolumeNumber":"36","bibliographic_titles":[{"bibliographic_title":"システム制御情報学会論文誌","bibliographic_titleLang":"ja"},{"bibliographic_title":"Transactions of the Institute of Systems, Control and Information Engineers","bibliographic_titleLang":"en"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper deals with high-speed and high-precision transfer control of silicon wafers by a belt-driven robot. We propose a target trajectory design while we only can change the trajectory due to the industry’s strict development limitations. The proposed trajectory design has a piecewise linear type velocity profile. Gradients of each segment in the piecewise profile, that is acceleration, are designed with a consideration of two factors: The effects of belt elasticity and kinematics between the amount of belt elongation and the amount of tracking error. To reduce the amount of tracking error effectively, we also propose a design indicator which combines the two factors for designing the profile. An experiment with the belt-driven type wafer transfer robot UTM-R3700F, currently in use in industry, illustrates that the proposed trajectory design with the proposed indicator reduces tracking error compared to the conventional trajectory design.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/235_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版社","attribute_value_mlt":[{"subitem_publisher":"システム制御情報学会","subitem_publisher_language":"ja"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.5687/iscie.36.392","subitem_relation_type_select":"DOI"}}]},"item_21_rights_13":{"attribute_name":"著作権関連情報","attribute_value_mlt":[{"subitem_rights":"Copyright (c) 2023 一般社団法人　システム制御情報学会"}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"no"}]},"item_21_source_id_10":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_source_identifier":"AN1013280X","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1342-5668","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"2185-811X","subitem_source_identifier_type":"EISSN"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10430459"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"12238"}]},"item_21_version_type_58":{"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_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Fujimura, Tota","creatorNameLang":"en"},{"creatorName":"藤村, 統太","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"Fukui, Yoshiro","creatorNameLang":"en"},{"creatorName":"福井, 善朗","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"Ito, Hiroshi","creatorNameLang":"en"},{"creatorName":"伊藤, 博","creatorNameLang":"ja"}],"familyNames":[{},{}],"givenNames":[{},{}],"nameIdentifiers":[{"nameIdentifier":"2754","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"70274561","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000070274561"},{"nameIdentifier":"55474153800","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=55474153800"},{"nameIdentifier":"235","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/##_ja.html"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2024-05-10"}],"filename":"10430459.pdf","filesize":[{"value":"1.4 MB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"url":"https://kyutech.repo.nii.ac.jp/record/2000615/files/10430459.pdf"},"version_id":"925ae81c-0ad5-46f6-9116-27d7363b233d"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"robot control","subitem_subject_scheme":"Other"},{"subitem_subject":"belt driven robot","subitem_subject_scheme":"Other"},{"subitem_subject":"wafer transfer robot","subitem_subject_scheme":"Other"},{"subitem_subject":"trajectory tracking","subitem_subject_scheme":"Other"},{"subitem_subject":"trajectory design","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":"Wafer Industry Design Case Study of Target Trajectory for Reducing Trajectory Deviation of a Belt-Driven Articulated Robot","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Wafer Industry Design Case Study of Target Trajectory for Reducing Trajectory Deviation of a Belt-Driven Articulated Robot","subitem_title_language":"en"},{"subitem_title":"ベルト駆動型多関節ロボットの軌道逸脱を低減する目標軌道のウエハ産業用設計事例","subitem_title_language":"ja"}]},"item_type_id":"21","owner":"14","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-05-10"},"publish_date":"2024-05-10","publish_status":"0","recid":"2000615","relation_version_is_last":true,"title":["Wafer Industry Design Case Study of Target Trajectory for Reducing Trajectory Deviation of a Belt-Driven Articulated Robot"],"weko_creator_id":"14","weko_shared_id":-1},"updated":"2024-05-30T06:34:18.232641+00:00"}