{"created":"2023-05-15T11:55:42.326964+00:00","id":731,"links":{},"metadata":{"_buckets":{"deposit":"e99ad592-76c3-4763-b1bb-f8e407b3f718"},"_deposit":{"created_by":3,"id":"731","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"731"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00000731","sets":["8:24"]},"author_link":["3257","3258","3260","3259"],"control_number":"731","item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-08","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"804","bibliographicPageStart":"796","bibliographicVolumeNumber":"20","bibliographic_titles":[{"bibliographic_title":"Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on]"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"By using a state observer, a new robust trajectory tracking control scheme is developed in this paper for electrically driven robot manipulators. The role of the observer is to estimate joint angular velocities. The proposed controller does not employ adaptation, but assures robust stability of tracking error between joint angles and desired trajectories. At sacrificing asymptotical stability of the tracking errors, the configuration of the proposed controller becomes very simple, compared with regressor-based adaptive controllers. It is shown in the closed-loop system using the proposed controller that the Euclidian norm of tracking errors arrives at any small closed region with any convergent rate by setting only one design parameter. Especially for the desired trajectories converging to constant ultimate values, it is assured that tracking errors converge to zero.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Oya","familyNameLang":"en"},{"familyName":"大屋","familyNameLang":"ja"},{"familyName":"オオヤ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Masahiro","givenNameLang":"en"},{"givenName":"勝敬","givenNameLang":"ja"},{"givenName":"マサヒロ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3259","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"40203947","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000040203947"},{"nameIdentifier":"7101913473","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=7101913473"},{"nameIdentifier":"6","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/6_ja.html"}],"names":[{"name":"Oya, Masahiro","nameLang":"en"},{"name":"大屋, 勝敬","nameLang":"ja"},{"name":"オオヤ, マサヒロ","nameLang":"ja-Kana"}]},{"nameIdentifiers":[{"nameIdentifier":"3260","nameIdentifierScheme":"WEKO"}],"names":[{"name":"小林, 敏弘","nameLang":"ja"}]}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Institute of Electrical and Electronics Engineers"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"info:doi/10.1109/TRO.2004.829481","subitem_relation_type_select":"DOI"}}]},"item_21_relation_66":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"120002440941","subitem_relation_type_select":"NAID"}}]},"item_21_rights_13":{"attribute_name":"著作権関連情報","attribute_value_mlt":[{"subitem_rights":"©2004 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_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_source_identifier":"AA1196840X","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1552-3098","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"1941-0468","subitem_source_identifier_type":"EISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548","subitem_subject_scheme":"NDC"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Dept. of Control Eng., Kyushu Institute of Technology, Kitakyushu, Japan"}]},"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":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Oya, Masahiro","creatorNameLang":"en"},{"creatorName":"大屋, 勝敬","creatorNameLang":"ja"},{"creatorName":"オオヤ, マサヒロ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"Chun-Yi, Su","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kobayashi, Toshihiro","creatorNameLang":"en"}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2008-02-12"}],"displaytype":"detail","filename":"State_20080212150800_001.pdf","filesize":[{"value":"2.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"State_20080212150800_001.pdf","url":"https://kyutech.repo.nii.ac.jp/record/731/files/State_20080212150800_001.pdf"},"version_id":"d08a082c-f003-42bb-ad38-321fc1c7a787"}]},"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":"State observer-based robust control scheme for electrically driven robot manipulators","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"State observer-based robust control scheme for electrically driven robot manipulators","subitem_title_language":"en"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2008-02-12"},"publish_date":"2008-02-12","publish_status":"0","recid":"731","relation_version_is_last":true,"title":["State observer-based robust control scheme for electrically driven robot manipulators"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-10-25T06:44:17.721659+00:00"}