{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1363388844813014656.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1115/1.3426611"}},{"identifier":{"@type":"URI","@value":"http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/94/4/303/5528808/303_1.pdf"}}],"dc:title":[{"@value":"The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators"}],"description":[{"type":"abstract","notation":[{"@value":"<jats:p>The problems of coordinated rate control and position control of multidegree-of-freedom arms are treated together in this paper. A mathematical formulation is presented which allows real time computer-assisted rate control under a variety of external coordinate systems. A new solution to the endpoint position control problem is given, allowing the arm to be driven to a final position specified in meaningful external coordinates without the corresponding final joint angles being known. Attention is given to redundant arms, to the possibility of singularities, and to the relation between this work and dynamic control of arms.</jats:p>"}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1380285705403378561","@type":"Researcher","foaf:name":[{"@value":"D. E. Whitney"}],"jpcoar:affiliationName":[{"@value":"Massachusetts Institute of Technology, Cambridge, Mass."}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"00220434"},{"@type":"EISSN","@value":"15289028"}],"prism:publicationName":[{"@value":"Journal of Dynamic Systems, Measurement, and Control"}],"dc:publisher":[{"@value":"ASME International"}],"prism:publicationDate":"1972-12-01","prism:volume":"94","prism:number":"4","prism:startingPage":"303","prism:endingPage":"309"},"reviewed":"false","url":[{"@id":"http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/94/4/303/5528808/303_1.pdf"}],"createdAt":"2010-11-03","modifiedAt":"2019-10-04","relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360285705403378688","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Visual Servo Control Admitting Joint Range of Motion Maximally"}]},{"@id":"https://cir.nii.ac.jp/crid/1360286995253346944","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation"}]},{"@id":"https://cir.nii.ac.jp/crid/1360290617650824832","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"A survey: dynamics of humanoid robots"}]},{"@id":"https://cir.nii.ac.jp/crid/1360565164998806784","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Historical Perspective and Scope"}]},{"@id":"https://cir.nii.ac.jp/crid/1360568465054694656","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Path Planning Based on Differential Kinematics for Passing Through Small Opening by Transformable Multilinked Aerial Robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1360846643035124480","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Solvability-Unconcerned Inverse Kinematics by the Levenberg–Marquardt Method"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204659714048","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Non-delayed Visual Servo Control Admitting Joint Range of Motion Maximally"},{"@language":"ja","@value":"関節可動範囲を最大許容する遅れなし追従視制御"},{"@language":"ja-Kana","@value":"カンセツ カドウ ハンイ オ サイダイ キョヨウ スル オクレ ナシ ツイジュウシ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204729591296","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Numerical Solution of Inverse Kinematics"},{"@language":"ja","@value":"逆運動学の数値解法"},{"@language":"ja-Kana","@value":"ギャクウンドウガク ノ スウチカイホウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679704735616","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"人型ロボットの力学"},{"@language":"en","@value":"Dynamics of Humanoid Robots"},{"@language":"ja-Kana","@value":"ジンガタ ロボット ノ リキガク"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679706042624","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Solvability-unconcerned Inverse Kinematics by Levenberg-Marquardt Method"},{"@language":"ja","@value":"Ｌｅｖｅｎｂｅｒｇ‐Ｍａｒｑｕａｒｄｔ法による可解性を問わない逆運動学"},{"@value":"Levenberg-Marquardt法による可解性を問わない逆運動学"},{"@language":"ja-Kana","@value":"Levenberg Marquardtホウ ニ ヨル カカイセイ オ トワナイ ギャクウンドウガク"}]},{"@id":"https://cir.nii.ac.jp/crid/1390564238052850560","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"仮想バネの弾性エネルギー最小化に基づいた特異姿勢・非可解な問題に対して安定な逆運動学の数値解法"},{"@language":"en","@value":"Stable Numerical Solution of Inverse Kinematics in Singular Posture and Unsolvable Problem Based on Minimization of Elastic Energy of Virtual Spring"},{"@language":"ja-Kana","@value":"カソウ バネ ノ ダンセイ エネルギー サイショウカ ニ モトズイタ トクイ シセイ ・ ヒカカイ ナ モンダイ ニ タイシテ アンテイ ナ ギャクウンドウガク ノ スウチ カイホウ"}]}],"dataSourceIdentifier":[{"@type":"CROSSREF","@value":"10.1115/1.3426611"},{"@type":"CROSSREF","@value":"10.7210/jrsj.36.645_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1007/978-1-4471-2343-9_19_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1080/01691864.2020.1778524_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1007/978-94-007-7194-9_1-1_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1007/978-3-030-33950-0_46_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1541/ieejias.132.588_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.7210/jrsj.34.167_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.7210/jrsj.36.95_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1109/iros40897.2019.8968110_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.7210/jrsj.29.269_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"},{"@type":"CROSSREF","@value":"10.1109/tro.2011.2148230_references_DOI_8gob7xF18WOrzoYbY5SXnpt3Cep"}]}