{"created":"2023-07-25T10:27:46.396661+00:00","id":497,"links":{},"metadata":{"_buckets":{"deposit":"ea250485-1f08-43da-a00d-d75d9fbfe2f2"},"_deposit":{"created_by":2,"id":"497","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"497"},"status":"published"},"_oai":{"id":"oai:it-hiroshima.repo.nii.ac.jp:00000497","sets":["1:17:202"]},"author_link":["2180","2183","2181","2182"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1988","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"194","bibliographicPageStart":"185","bibliographicVolumeNumber":"22","bibliographic_titles":[{"bibliographic_title":"広島工業大学研究紀要"}]}]},"item_10002_description_19":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The active vibration control of a flexible robotic arm has been investigated using a positioning control system which is constructed with a DC servo-motor directly driving the arm in a horizontal plane, a micro-computer as a controller, and sensing devices. It is found that the elastic vibration originating from the arm flexibility in positioning control deviates inversely to the positioned direction, and also that the greater an input to the motor, the more noticeable becomes such an asymmetry of vibration owing to the inertia effect. A state feedback control system designed based on the optimal regulator method and the pole placement one, including a dynamic compensator with a minimal order observer, is effective on both the simultaneous control of the positioning of the motor axis and the elastic vibration of the arm. It can be said that while the modeling of the arm is restricted only to the fundamental vibration mode, an extension to multi-degree of freedom system is also expected, similar to the case treated here.","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"広島工業大学"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN0021271X","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03851672","subitem_source_identifier_type":"ISSN"}]},"item_10002_version_type_20":{"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":"川辺, 尚志"},{"creatorName":"カワベ, ヒサシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2180","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"吉田, 和信"},{"creatorName":"ヨシダ, カズノブ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2181","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kawabe, Hisashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2182","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Yoshida, Kazunobu","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2183","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2023-03-30"}],"displaytype":"detail","filename":"kenkyukiyo22185.pdf","filesize":[{"value":"2.2 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kenkyukiyo22185.pdf","url":"https://it-hiroshima.repo.nii.ac.jp/record/497/files/kenkyukiyo22185.pdf"},"version_id":"b773d046-6925-46b0-80f8-917afe6b18ef"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Vibration control","subitem_subject_scheme":"Other"},{"subitem_subject":"flexible robotic arm","subitem_subject_scheme":"Other"},{"subitem_subject":"flexbility control","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic compensator","subitem_subject_scheme":"Other"},{"subitem_subject":"minimal order observer.","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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":"ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系"},{"subitem_title":"Vibration and Active Control of Robotics : 1Degree of Freedom Flexible Arm System","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"2","path":["202"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-30"},"publish_date":"2023-03-30","publish_status":"0","recid":"497","relation_version_is_last":true,"title":["ロボットにおける振動と能動的制御 : 1自由度フレキシブルア-ム系"],"weko_creator_id":"2","weko_shared_id":-1},"updated":"2023-07-25T10:48:18.805457+00:00"}