{"created":"2023-06-20T14:40:37.716941+00:00","id":7548,"links":{},"metadata":{"_buckets":{"deposit":"68fd88b4-ea17-4643-9836-dd31f25b33dc"},"_deposit":{"created_by":1,"id":"7548","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7548"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007548","sets":["1543:1544:1557","1887:1891"]},"author_link":["40370","40372","40369","40371"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"システムの双方向モデル化技術とそのマニピュレータ制御への応用に関する研究"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"278","bibliographicPageStart":"273","bibliographic_titles":[{"bibliographic_title":"第16回アストロダイナミクスシンポジウム講演後刷り集　2006"},{"bibliographic_title":"Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"工学上重要な多くの問題において、我々はしばしば複雑困難な逆問題に遭遇する。本論ではまず対象となるプラントの順モデルおよび逆モデルを同時に獲得することができるようなニューラルネットワークの新しいフレームワークを提案し、これを用いることによって逆モデル学習の効率および精度が既存手法よりも改善されることを示す。また、ロボットマニピュレータの逆キネマティクス問題への適用可能性について検討する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"In many situations controlling some robot manipulators or other plants, we have to struggle with the 'inverse problem'. This paper propose a new framework of neural network system witch can obtain both the direct model and the inverse model of the plant simultaneously, and shows that using this framework, both of the efficiency and accuracy of inverse models, are improved. We are now investigating the possibility of the application of this framework for solving inverse kinematics of robot manipulators.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063481047","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学 大学院工学系研究科"},{"subitem_text_value":"東京大学 大学院工学系研究科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"University of Tokyo School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"University of Tokyo School of Engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小松, 満仁"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中須賀, 真一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Komatsu, Mitsuhito","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakasuka, Shinichi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"ニューラルネット","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"不適切問題","subitem_subject_scheme":"Other"},{"subitem_subject":"逆運動学","subitem_subject_scheme":"Other"},{"subitem_subject":"逆問題","subitem_subject_scheme":"Other"},{"subitem_subject":"双方向ニューラルネットワーク","subitem_subject_scheme":"Other"},{"subitem_subject":"ランダム補正法","subitem_subject_scheme":"Other"},{"subitem_subject":"積分補正法","subitem_subject_scheme":"Other"},{"subitem_subject":"機械学習","subitem_subject_scheme":"Other"},{"subitem_subject":"学習曲線","subitem_subject_scheme":"Other"},{"subitem_subject":"効率","subitem_subject_scheme":"Other"},{"subitem_subject":"精度","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"neural net","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control theory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"ill-posed problem","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"inverse kinematics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"inverse problem","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"bi-directional neural network","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"random correction factor method","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"integrated correction factor method","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"machine learning","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"learning curve","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"efficiency","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"accuracy","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Bi-directional system modelling technology and its application for controlling robot manipulators","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Bi-directional system modelling technology and its application for controlling robot manipulators","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1557","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7548","relation_version_is_last":true,"title":["Bi-directional system modelling technology and its application for controlling robot manipulators"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:37:47.917669+00:00"}