{"created":"2023-05-15T12:35:06.783047+00:00","id":3944,"links":{},"metadata":{"_buckets":{"deposit":"c4ff94f4-584c-4deb-b693-578eae49ad4d"},"_deposit":{"created_by":91,"id":"3944","owners":[91],"pid":{"revision_id":0,"type":"depid","value":"3944"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00003944","sets":["31"]},"author_link":["8805","11357","11358","8805"],"item_10001_alternative_title_24":{"attribute_name":"その他（別言語等）のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"ショウガイブツ　ノ　エイキョウ　オ　コウリョ　シタ　マニピュレータ　ノ　カソウサド","subitem_alternative_title_language":"ja-Kana"},{"subitem_alternative_title":"Manipulability of Robotic Manipulators Considering the Influence of Obstacles","subitem_alternative_title_language":"en"}]},"item_10001_biblio_info_28":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1988-06-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"192","bibliographicPageStart":"184","bibliographicVolumeNumber":"6","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌","bibliographic_titleLang":"ja"}]}]},"item_10001_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"マニピュレータの制御あるいは作業計画に際して, 手先効果器の操作性能を定量的に表す尺度があれば有用である.本報告では, 障害物のある環境下におけるマニピュレータの能力を運動学的な見地から評価する一つの方法を提案する.<BR>マニピュレータに接近した障害物は, マニピュレータの運動に多くの拘束を与える.本報告では, 二つの場合を扱う.一つは, 障害物を避けるために関節速度ベクトルが等式拘束を満たさねばならない場合である.他の一つは, 障害物に接近する速度が制限される場合である.各々の場合に対して, 著者らは可操作性楕円体および可操作度を導いた.最後に一つの例として, 8自由度を持つマニピュレータを用いて行った実験およびシミュレーションを示す.この実験では, 狭いスリットを通して手先効果器を差し込み, 本報告で提案した可操作度を大きな値に保ちながら関節角速度が制御される.","subitem_description_language":"ja","subitem_description_type":"Other"},{"subitem_description":"It is useful for control of robot manipulators and for task planning if we have a quantitative measure of manipulating ability in positioning and orienting the endeffectors. Its this paper, a method for estimating the ability of robot manipulators under the environment with obstacles is proposed from the viewpoint of kinematics.<BR>The obstacles which are close to a manipulator bring some restrictions to the motion of the manipulator. In this paper, we discuss two cases; the one is the case that the joint velocity vector must satisfy the equality constraint for the purpose of avoiding the obstacle, and the other is the case that the approaching speed to the obstacle is restricted. For each case, we derive a manipulability ellipsoid and a measure of manipulability. Lastly, as an example, an experiment and simulation results using an eight degree of freedom manipulator are shown. In this experiment, the endeffector is inserted into an inside space through a narrow slit, and the joint angle velocities are controlled so as to keep the proposed manipulability large.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_10001_full_name_27":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"8805","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"1000080196295","nameIdentifierScheme":"NRID","nameIdentifierURI":"http://rns.nii.ac.jp/nr/1000080196295"}],"names":[{"name":"Sano, Akihito"}]}]},"item_10001_publisher_29":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"社団法人 日本ロボット学会","subitem_publisher_language":"ja"}]},"item_10001_source_id_30":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0289-1824","subitem_source_identifier_type":"ISSN"}]},"item_10001_source_id_32":{"attribute_name":"item_10001_source_id_32","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_10001_version_type_33":{"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":"古荘, 純次"}],"nameIdentifiers":[{"nameIdentifier":"11357","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"臼井, 広幸"}],"nameIdentifiers":[{"nameIdentifier":"11358","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"佐野, 明人"},{"creatorName":"サノ, アキヒト","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"8805","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"1000080196295","nameIdentifierScheme":"NRID","nameIdentifierURI":"http://rns.nii.ac.jp/nr/1000080196295"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-01-23"}],"displaytype":"detail","filename":"RSJ 6_184.pdf","filesize":[{"value":"4.5 MB"}],"format":"application/pdf","license_note":"Copyright 社団法人 日本ロボット学会","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"本文_fulltext","url":"https://nitech.repo.nii.ac.jp/record/3944/files/RSJ 6_184.pdf"},"version_id":"d912c67d-3371-4302-89b3-a66f2241fe55"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"item_resource_type","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"障害物の影響を考慮したマニピュレータの可操作度","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"障害物の影響を考慮したマニピュレータの可操作度","subitem_title_language":"ja"}]},"item_type_id":"10001","owner":"91","path":["31"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2012-11-06"},"publish_date":"2012-11-06","publish_status":"0","recid":"3944","relation_version_is_last":true,"title":["障害物の影響を考慮したマニピュレータの可操作度"],"weko_creator_id":"91","weko_shared_id":-1},"updated":"2025-03-12T06:23:04.133057+00:00"}