{"created":"2023-07-27T07:30:27.850802+00:00","id":1152,"links":{},"metadata":{"_buckets":{"deposit":"c2173fa4-0a26-4ce9-ba74-2946ee0c1a05"},"_deposit":{"created_by":20,"id":"1152","owners":[20],"pid":{"revision_id":0,"type":"depid","value":"1152"},"status":"published"},"_oai":{"id":"oai:doshisha.repo.nii.ac.jp:00001152","sets":["4151:8699:4187:4188","4251:7205:7206:8773:7207"]},"author_link":["2547"],"item_1693813220986":{"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_1694497428290":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士(工学)","subitem_degreename_language":"ja"}]},"item_1694497507610":{"attribute_name":"学位名（英）","attribute_value_mlt":[{"subitem_degreename":"Doctor of Philosophy in Engineering","subitem_degreename_language":"en"}]},"item_1694497573527":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_language":"ja","subitem_degreegrantor_name":"同志社大学"},{"subitem_degreegrantor_language":"en","subitem_degreegrantor_name":"Doshisha University"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"34310","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_3_date_granted_27":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2014-03-22"}]},"item_3_description_12":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本研究は,双腕で作業プレートを支持することで閉リンク機構を構成し,作業プレートを操ることで十分な支持剛性を維持しながらプレート上での柔軟な作業空間を実現することを目指した.すなわち,ロボットでも従来の工作機械のNC制御の運動精度に近い性能を具現化する一方,人の作業に近い柔軟性を両立することであるその対象としてプレート上で球の転がりを取り上げ,その運動軌跡をコンピュータシミュレーションにより解析しながら,同時2軸の旋回運動の制御におけるその誤差解析およびその改善手法を確立する.","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"Recently, industrial dual-arm robots have gained attention as novel tools and we therefore focus on them to flexible control both the linear motion and the rotational motion of a working plate. However, it is difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. Thus, we proposed a novel method to measure it with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control. As a result, we demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of working plate.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_3_description_18":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_3_dissertation_number_28":{"attribute_name":"学位授与番号","attribute_value_mlt":[{"subitem_dissertationnumber":"甲第662号"}]},"item_3_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.14988/di.2017.0000016171","subitem_identifier_reg_type":"JaLC"}]},"item_3_relation_16":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"BB16759038","subitem_relation_type_select":"NCID"}}]},"item_3_relation_17":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_language":"ja","subitem_relation_name_text":"掲載刊行物所蔵情報へのリンク ／ Link to Contents"}],"subitem_relation_type":"isFormatOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB12863856/?lang=0","subitem_relation_type_select":"URI"}}]},"item_3_text_8":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"理工学研究科"}]},"item_3_text_9":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Graduate School of Science and Engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"呉, 魏","creatorNameLang":"ja"},{"creatorName":"ゴ, ギ","creatorNameLang":"ja-Kana"},{"creatorName":"Wu, Wei","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":"2014-07-04"}],"displaytype":"detail","filename":"k662.pdf","filesize":[{"value":"460.1 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"要旨/abstaract","objectType":"abstract","url":"https://doshisha.repo.nii.ac.jp/record/1152/files/k662.pdf"},"version_id":"391950be-1f24-4480-8cf7-5cdec9c6343e"},{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2014-11-26"}],"displaytype":"detail","filename":"zk662.pdf","filesize":[{"value":"15.7 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"zk662.pdf","objectType":"fulltext","url":"https://doshisha.repo.nii.ac.jp/record/1152/files/zk662.pdf"},"version_id":"e6f2eaba-f106-42ec-9bf4-cbb7f8f4bdea"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"数値制御","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"位置きめ精度","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"双腕産業用ロボット","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"作業プレート","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"自動化","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"NC","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Positioning Accuracy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Dual-arm industrial Robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Working Plate","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Automation","subitem_subject_language":"en","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":"doctoral thesis","resourceuri":"http://purl.org/coar/resource_type/c_db06"}]},"item_title":"双腕ロボットによるプレート2軸旋回運動制御の運動誤差測定とその改善に関する研究","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"双腕ロボットによるプレート2軸旋回運動制御の運動誤差測定とその改善に関する研究","subitem_title_language":"ja"},{"subitem_title":"ソウワン ロボット ニヨル プレート 2ジク センカイ ウンドウ セイギョ ノ ウンドウ ゴサ ソクテイ ト ソノ カイゼン ニカンスル ケンキュウ","subitem_title_language":"ja-Kana"}]},"item_type_id":"3","owner":"20","path":["4188","7207"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-07-04"},"publish_date":"2014-07-04","publish_status":"0","recid":"1152","relation_version_is_last":true,"title":["双腕ロボットによるプレート2軸旋回運動制御の運動誤差測定とその改善に関する研究"],"weko_creator_id":"20","weko_shared_id":-1},"updated":"2023-12-20T07:19:46.239888+00:00"}