{"created":"2023-05-15T11:57:41.838014+00:00","id":3425,"links":{},"metadata":{"_buckets":{"deposit":"8d85bba7-56fc-4afa-8abf-95890a1d7307"},"_deposit":{"created_by":3,"id":"3425","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"3425"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00003425","sets":["15:20"]},"author_link":["13737","13738","126"],"item_23_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-09-13","bibliographicIssueDateType":"Issued"},"bibliographic_titles":[{"bibliographic_title":"International IEEE Conference Mechatronics & Robotics 2004"}]}]},"item_23_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper discusses suitable postures for a robot manipulator applying a force. In order to find out the suitable postures, a performance index to estimate the suitableness of a posture of a robot manipulator is defined, and then a constrained optimization problem is formulated; the performance index is minimized under a geometric condition. The suitable posturescan be obtained by solving the constrained optimization problem numerically. Two case studies – obtaining and examining suitable postures for pushing and pulling robots – are conducted. The findings in the case studies reveal that the suitable postures can be classified into two types and the robot manipulators choose one of them depending on the magnitude of the effort force. A force control algorithm based on the results of the numerical analysis provides a capability to generate a large effort force for a robot manipulator. Moreover, by adoption of the force control algorithm, reduction of energy loss is expected.","subitem_description_type":"Abstract"}]},"item_23_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Conference Paper","subitem_description_type":"Other"}]},"item_23_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{"nameIdentifier":"126","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"50315173","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000050315173"},{"nameIdentifier":"55137081800","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=55137081800"},{"nameIdentifier":"242","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/242_ja.html"}],"names":[{"name":"Kobayashi, Jun","nameLang":"en"},{"name":"小林, 順","nameLang":"ja"},{"name":"コバヤシ, ジュン","nameLang":"ja-Kana"}]}]},"item_23_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Institute of Electrical and Electronics Engineers"}]},"item_23_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"©2009 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."}]},"item_23_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_23_text_37":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Kyushu Institute of Technology"}]},"item_23_version_type_58":{"attribute_name":"著者版フラグ","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":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Kobayashi, Jun","creatorNameLang":"en"},{"creatorName":"小林, 順","creatorNameLang":"ja"},{"creatorName":"コバヤシ, ジュン","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"Kishida, Shintarou"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ohkawa, Fujio"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2010-02-18"}],"displaytype":"detail","filename":"MechRob2004_1v2.pdf","filesize":[{"value":"405.9 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"MechRob2004_1v2.pdf","url":"https://kyutech.repo.nii.ac.jp/record/3425/files/MechRob2004_1v2.pdf"},"version_id":"73c905ba-fcc4-49c0-b9a6-316b87877415"}]},"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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method"}]},"item_type_id":"23","owner":"3","path":["20"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-02-18"},"publish_date":"2010-02-18","publish_status":"0","recid":"3425","relation_version_is_last":true,"title":["Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-10-25T06:17:04.176662+00:00"}