{"created":"2024-10-15T05:15:00.191270+00:00","id":2011914,"links":{},"metadata":{"_buckets":{"deposit":"92a31666-6663-452b-b732-1a67efdde077"},"_deposit":{"created_by":10,"id":"2011914","owners":[10],"pid":{"revision_id":0,"type":"depid","value":"2011914"},"status":"published"},"_oai":{"id":"oai:fra.repo.nii.ac.jp:02011914","sets":["1:6:1724312740802"]},"author_link":["2839","1908","2812"],"control_number":"2011914","item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicNumberOfPages":"6","bibliographicPageEnd":"282","bibliographicPageStart":"277","bibliographicVolumeNumber":"57","bibliographic_titles":[{"bibliographic_title":"水産大学校研究報告","bibliographic_titleLang":"ja"},{"bibliographic_title":"Journal of National Fisheries University","bibliographic_titleLang":"en"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This report deals with a control issue of an autonomous underwater robot equipped with a manipulator. In general, the control objective of manipulator is to determine joint torque inputs so that the position of end-effector can follow the desired trajectory. Since most joint torque controllers cannot directly control the end-effector variables, an inverse kinematics algorithm which transforms the desired trajectories of end-effector variables to those of joint variables needs to be used. This report focuses on a differential inverse kinematic algorithm using the Jacobian pseudo inverse. The position of end-effector may be measured by a visual sensor such as camera. It is anticipated that the measured position data includes measurement noise since the measurement is carried out in underwater environment. However, the effect of measurement noise on the control performance of joint torque controller using the differential inverse kinematic algorithm is not analyzed. In this report, a differential inverse kinematic algorithm of underwater robotic system with noise in position data is considered. The effectiveness of the algorithm is demonstrated by numerical simulation.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"水産大学校","subitem_publisher_language":"ja"},{"subitem_publisher":"National Fisheries University","subitem_publisher_language":"en"}]},"item_10002_relation_16":{"attribute_name":"情報源","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"fishu_k_57_277","subitem_relation_type_select":"Local"}}]},"item_10002_relation_17":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_language":"en","subitem_relation_name_text":"agriknowledge"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://agriknowledge.affrc.go.jp/RN/2010780571","subitem_relation_type_select":"URI"}}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00124678","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0370-9361","subitem_source_identifier_type":"PISSN"}]},"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":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Morimoto, Eiji","creatorNameLang":"en"},{"creatorName":"森元, 映治","creatorNameLang":"ja"},{"creatorName":"モリモト, エイジ","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Morimoto","familyNameLang":"en"},{"familyName":"森元","familyNameLang":"ja"},{"familyName":"モリモト","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Eiji","givenNameLang":"en"},{"givenName":"映治","givenNameLang":"ja"},{"givenName":"エイジ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2812","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Taira, Yuichiro","creatorNameLang":"en"},{"creatorName":"平, 雄一郎","creatorNameLang":"ja"},{"creatorName":"タイラ, ユウイチロウ","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Taira","familyNameLang":"en"},{"familyName":"平","familyNameLang":"ja"},{"familyName":"タイラ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Yuichiro","givenNameLang":"en"},{"givenName":"雄一郎","givenNameLang":"ja"},{"givenName":"ユウイチロウ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2839","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Nakamura, Makoto","creatorNameLang":"en"},{"creatorName":"中村, 誠","creatorNameLang":"ja"},{"creatorName":"ナカムラ, マコト","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Nakamura","familyNameLang":"en"},{"familyName":"中村","familyNameLang":"ja"},{"familyName":"ナカムラ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Makoto","givenNameLang":"en"},{"givenName":"誠","givenNameLang":"ja"},{"givenName":"マコト","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"1908","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"40399639","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=40399639"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2024-10-11"}],"filename":"fishu_k_57_277.pdf","filesize":[{"value":"342.7 KB"}],"format":"application/pdf","licensetype":"license_0","mimetype":"application/pdf","url":{"url":"https://fra.repo.nii.ac.jp/record/2011914/files/fishu_k_57_277.pdf"},"version_id":"2039779c-f76c-4277-be34-1f89b61d0aaa"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"fishery engineering; underwater robot; manipulator; inverse kinematic algorithm; noise","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"位置情報に雑音が含まれる水中ロボットシステムの微分逆運動学","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"位置情報に雑音が含まれる水中ロボットシステムの微分逆運動学","subitem_title_language":"ja"},{"subitem_title":"Differential inverse kinematics of underwater robotic systems with noise in position data","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"10","path":["1724312740802"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-10-11"},"publish_date":"2024-10-11","publish_status":"0","recid":"2011914","relation_version_is_last":true,"title":["位置情報に雑音が含まれる水中ロボットシステムの微分逆運動学"],"weko_creator_id":"10","weko_shared_id":-1},"updated":"2025-04-25T05:57:53.525068+00:00"}