{"created":"2023-06-19T11:37:36.023053+00:00","id":4969,"links":{},"metadata":{"_buckets":{"deposit":"1d9d1518-6416-459f-b4b0-2eb4636a3410"},"_deposit":{"created_by":13,"id":"4969","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"4969"},"status":"published"},"_oai":{"id":"oai:mie-u.repo.nii.ac.jp:00004969","sets":["366:367:368:387"]},"author_link":["10611","10612","10613"],"item_4_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1994-12-21","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"61","bibliographicPageStart":"51","bibliographicVolumeNumber":"19","bibliographic_titles":[{"bibliographic_title":"Research reports of the Faculty of Engineering, Mie University"}]}]},"item_4_description_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_4_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a simple and high performance position control method based on acceleration control. In conventional methods of disturbance compensation, it is difficult to realize the strict acceleration controller. Recently, a reserch on a disturbance observer shows that the disturbance compensation by the disturbance observer realizes the acceleration controller. Compared with the method of using inverse dynamics, the disturbance observer is simple and robust against parameter variation. The control algorithm is applied to a three-degree-of-freedom robot to show the effectiveness.","subitem_description_type":"Abstract"}]},"item_4_publisher_30":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Faculty of Engineering, Mie University"}]},"item_4_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0385-6208","subitem_source_identifier_type":"PISSN"}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA00816341","subitem_source_identifier_type":"NCID"}]},"item_4_text_18":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"外乱オブザーバを用いたロボットの制御"}]},"item_4_text_65":{"attribute_name":"資源タイプ（三重大）","attribute_value_mlt":[{"subitem_text_value":"Departmental Bulletin Paper / 紀要論文"}]},"item_4_version_type_15":{"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":[{"creatorNames":[{"creatorName":"Komada, Satoshi","creatorNameLang":"en"},{"creatorName":"駒田, 諭","creatorNameLang":"ja"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ishida, Muneaki","creatorNameLang":"en"},{"creatorName":"石田, 宗秋","creatorNameLang":"ja"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hori, Takamasa","creatorNameLang":"en"},{"creatorName":"堀, 孝正","creatorNameLang":"ja"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-02-18"}],"displaytype":"detail","filename":"AA008163410190007.PDF","filesize":[{"value":"625.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AA008163410190007.PDF","url":"https://mie-u.repo.nii.ac.jp/record/4969/files/AA008163410190007.PDF"},"version_id":"6001c218-57f3-40eb-aab0-c7868666fe1d"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Robot manipulators","subitem_subject_scheme":"Other"},{"subitem_subject":"Disturbance observer","subitem_subject_scheme":"Other"},{"subitem_subject":"Acceleration control","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverse dynamics","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Control of Robot Manipulators Using Disturbance Observer","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Control of Robot Manipulators Using Disturbance Observer","subitem_title_language":"en"}]},"item_type_id":"4","owner":"13","path":["387"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2007-07-02"},"publish_date":"2007-07-02","publish_status":"0","recid":"4969","relation_version_is_last":true,"title":["Control of Robot Manipulators Using Disturbance Observer"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-10-05T06:25:05.667693+00:00"}