{"created":"2024-11-05T12:00:11.516079+00:00","id":2001001,"links":{},"metadata":{"_buckets":{"deposit":"57023e75-0a74-4901-9ef9-417052a06fc9"},"_deposit":{"created_by":12,"id":"2001001","owners":[12],"pid":{"revision_id":0,"type":"depid","value":"2001001"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:02001001","sets":["8:24"]},"author_link":["35562"],"control_number":"2001001","item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2024-06-20","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"1930","bibliographicPageStart":"1925","bibliographicVolumeNumber":"8","bibliographic_titles":[{"bibliographic_title":"IEEE Control Systems Letters","bibliographic_titleLang":"en"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The static friction force is an important element of practical problems, such as the model-based control design of mechanical systems described by the Euler-Lagrange equations. The difficulty in calculating the static friction force, represented by a discontinuous function, lies in the fact that the differential equations representing the equations of motion become discontinuous differential-algebraic equations (DAEs). To solve the discontinuous DAEs using numerical methods, we need to solve a non-differential implicit algebraic equation at each step. In this letter, we propose an algorithm for calculating the static friction force by solving the implicit algebraic equation. Theoretical analysis shows that the friction force exists uniquely. This ensures that the proposed algorithm obtains a unique value for the static friction force. Moreover, the number of iterations in the proposed algorithm is only 3n at worst, where n denotes the number of manipulator joints. Hence, the proposed method matches numerical differential equation solvers, such as the Euler method. The effectiveness of the proposed method was validated through simulations using simple mechanical systems.","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/100001141_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版社","attribute_value_mlt":[{"subitem_publisher":"IEEE","subitem_publisher_language":"en"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/LCSYS.2024.3417454","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) 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2475-1456","subitem_source_identifier_type":"EISSN"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10441980"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"12419"}]},"item_21_version_type_58":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Murayama, Yusuke","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"福井, 善朗","creatorNameLang":"ja"},{"creatorName":"Fukui, Yoshiro","creatorNameLang":"en"}],"familyNames":[{"familyName":"福井","familyNameLang":"ja"},{"familyName":"Fukui","familyNameLang":"en"}],"givenNames":[{"givenName":"善朗","givenNameLang":"ja"},{"givenName":"Yoshiro","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"35562","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"30710652","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000030710652"},{"nameIdentifier":"56650556600","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=56650556600"},{"nameIdentifier":"100001141","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/100001141_ja.html"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","filename":"10441980.pdf","filesize":[{"value":"429.0 KB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"url":"https://kyutech.repo.nii.ac.jp/record/2001001/files/10441980.pdf"},"version_id":"1112925c-d848-476b-be7d-66cb6fe3dd5c"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Mechatronics","subitem_subject_scheme":"Other"},{"subitem_subject":"differential-algebraic systems","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical algorithms","subitem_subject_scheme":"Other"},{"subitem_subject":"modeling","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":"Calculation Method of Static Friction Forces for Multi-Joint Manipulators","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Calculation Method of Static Friction Forces for Multi-Joint Manipulators","subitem_title_language":"en"}]},"item_type_id":"21","owner":"12","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-11-05"},"publish_date":"2024-11-05","publish_status":"0","recid":"2001001","relation_version_is_last":true,"title":["Calculation Method of Static Friction Forces for Multi-Joint Manipulators"],"weko_creator_id":"12","weko_shared_id":-1},"updated":"2025-07-14T02:50:05.901570+00:00"}