{"created":"2023-05-15T10:28:44.918799+00:00","id":24498,"links":{},"metadata":{"_buckets":{"deposit":"b72cc905-332c-4eeb-b9a5-88650fcf207c"},"_deposit":{"created_by":1,"id":"24498","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"24498"},"status":"published"},"_oai":{"id":"oai:u-fukui.repo.nii.ac.jp:00024498","sets":["2403:2226:2238:2277"]},"author_link":["70946","70945"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1992-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"64","bibliographicPageStart":"51","bibliographicVolumeNumber":"40","bibliographic_titles":[{"bibliographic_title":"福井大学工学部研究報告"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This research is concerned with the application of fuzzy theory to PTP( Point to Point) control of a redundant manipulator. On PTP control, an inverse kinematics problem which is to determine each joint angles when the position of an end-effector is given, is unsolvable because its solution is not always unique owing to its redundancy. In this study, the self-controlled manipulator for PTP control can be realized using the fuzzy theory. The basic structure and uses of the fuzzy controller are developed with an on-line computer aid, by which the manipulator can reach at any prescribed position. The fuzzy inference is proceeded on nine fuzzy rules with respect to output angles for each joints using \"product-sum-gravity method\" and \"simplified method\". Two types of output membership functions are proposed and the effectiveness is discussed through simulation studies. By experiments using Rhino robot, it is ascertained that the proposed fuzzy controller is valid to PTP control of the real manipulator.","subitem_description_type":"Abstract"}]},"item_10002_relation_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"TD00004360","subitem_relation_type_select":"NCID"}}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"4298373","subitem_source_identifier_type":"ISSN"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"ASAKURA, Toshiyuki"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"OKAMURA, Muneaki"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-08-05"}],"displaytype":"detail","filename":"AN00215401-040-01-006.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AN00215401-040-01-006.pdf","url":"https://u-fukui.repo.nii.ac.jp/record/24498/files/AN00215401-040-01-006.pdf"},"version_id":"0ec23415-1d4a-474e-a519-2523bbf99190"}]},"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":"Application of Fuzzy Theory to PTP Control of a Robot Manipulator","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Application of Fuzzy Theory to PTP Control of a Robot Manipulator"}]},"item_type_id":"10002","owner":"1","path":["2277"],"pubdate":{"attribute_name":"公開日","attribute_value":"2011-10-11"},"publish_date":"2011-10-11","publish_status":"0","recid":"24498","relation_version_is_last":true,"title":["Application of Fuzzy Theory to PTP Control of a Robot Manipulator"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-05-15T12:32:47.182605+00:00"}