{"id":432,"date":"2024-02-28T18:13:12","date_gmt":"2024-02-28T09:13:12","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/?page_id=432"},"modified":"2024-02-28T20:07:08","modified_gmt":"2024-02-28T11:07:08","slug":"%e5%85%ac%e7%9b%8a%e8%b2%a1%e5%9b%a3%e6%b3%95%e4%ba%bajka2019%e5%b9%b4%e5%ba%a6%e7%a0%94%e7%a9%b6%e8%a3%9c%e5%8a%a9%e3%80%8c%e7%b6%b2%e7%8a%b6%e7%b4%a2%e9%81%93%e8%87%aa%e8%b5%b0%e5%bc%8f%e6%a7%8b","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/%e5%85%ac%e7%9b%8a%e8%b2%a1%e5%9b%a3%e6%b3%95%e4%ba%bajka2019%e5%b9%b4%e5%ba%a6%e7%a0%94%e7%a9%b6%e8%a3%9c%e5%8a%a9%e3%80%8c%e7%b6%b2%e7%8a%b6%e7%b4%a2%e9%81%93%e8%87%aa%e8%b5%b0%e5%bc%8f%e6%a7%8b\/","title":{"rendered":"\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA2019\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u5f0f\u69cb\u9020\u53ef\u5909\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u7528\u6280\u8853\u958b\u767a\u300d\u306e\u6982\u8981"},"content":{"rendered":"\n<p>\u203b\u672c\u30da\u30fc\u30b8\u3067\u306f\uff0c\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA2019\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u5f0f\u69cb\u9020\u53ef\u5909\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u7528\u6280\u8853\u958b\u767a\u300d\u306e\u6982\u8981\u5e83\u5831\u8cc7\u6599\u3092\u63b2\u8f09\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p 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class=\"has-large-font-size\"><strong>\uff12\u3000\u7814\u7a76\u306e\u76ee\u7684\u3068\u80cc\u666f<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7814\u7a76\u4ee3\u8868\u8005\u3089\u306f\uff0c\u5e73\u621029\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u4e8b\u696d\uff08\u8907\u6570\u5e74\uff09\u306b\u304a\u3044\u3066\uff0c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u69cb\u3068\u69cb\u9020\u53ef\u5909\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306b\u3088\u308b\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u3092\u63d0\u6848\u3057\u305f\uff0e\u3053\u308c\u306f\uff0c\u30af\u30e2\u306e\u5de3\u306e\u3088\u3046\u306b\u76f8\u4e92\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3067\u7a7a\u9593\u7684\u30fb\u66f2\u7dda\u7684\u306b\u67b6\u8a2d\u3055\u308c\u305f\u30b1\u30fc\u30d6\u30eb\uff08\u7db2\u72b6\u7d22\u9053\u3068\u547c\u3076\uff09\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3057\u7a7a\u9593\u5185\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u3068\uff0c\u3053\u308c\u3092\u8907\u6570\u7528\u3044\u3055\u3089\u306b\u3053\u3053\u304b\u3089\u7e70\u308a\u51fa\u3057\u305f\u8907\u6570\u306e\u30b1\u30fc\u30d6\u30eb\u306b\u3088\u308a\u624b\u5148\u52b9\u679c\u5668\u3092\u99c6\u52d5\u3059\u308b\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u30ed\u30dc\u30c3\u30c8\u3067\u3042\u308b\uff0e\u540c\u4e8b\u696d\u3067\u306f\u3053\u306e\u57fa\u672c\u7684\u30a2\u30a4\u30c7\u30a2\u3092\u63d0\u6848\u3057\uff0c\u7db2\u72b6\u7d22\u9053\u8d70\u884c\u6a5f\u69cb\u306e\u539f\u7406\u691c\u8a3c\u30e2\u30c7\u30eb\u3084\u7d22\u9053\u67b6\u8a2d\u624b\u6cd5\u3092\u958b\u767a\u3057\uff0c\u3055\u3089\u306b\u3053\u308c\u3092\u7528\u3044\u305f\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306b\u3064\u3044\u3066\u306e\u7814\u7a76\u3092\u9032\u3081\u3066\u304d\u305f\uff0e<br>\u3000\u672c\u7814\u7a76\u306f\uff0c\u3053\u306e\u5185\u5bb9\u3092\u3055\u3089\u306b\u767a\u5c55\u30fb\u62e1\u5927\u3057\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u306e\u5b9f\u7528\u6280\u8853\u3092\u958b\u767a\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u5177\u4f53\u7684\u306b\u306f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u306e\u6a5f\u69cb\u3068\u5236\u5fa1\u6cd5\u306e\u958b\u767a\uff0c\u7d22\u9053\u67b6\u8a2d\u30fb\u7d4c\u8def\u8a08\u753b\u6cd5\u306e\u7814\u7a76\uff0c\u7269\u8cc7\u904b\u642c\u6280\u8853\u306e\u958b\u767a\uff0c\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u6280\u8853\u306e\u958b\u767a\uff0c\u30d1\u30e9\u30ec\u30eb\u6a5f\u69cb\u306b\u3088\u308b\u4f5c\u696d\u6280\u8853\u306e\u958b\u767a\u306a\u3069\u306b\u3088\u308a\uff0c\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u4f5c\u696d\uff0c\u898b\u56de\u308a\uff0c\u7269\u8cc7\u904b\u642c\uff0c\u8abf\u67fb\uff0c\u6551\u52a9\u306b\u6709\u7528\u306a\uff0c\u4fe1\u983c\u6027\u306e\u9ad8\u304f\u9ad8\u901f\u30fb\u9ad8\u51fa\u529b\u306a\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3067\u3042\u308b\u65b0\u305f\u306a\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u5b9f\u7528\u6280\u8853\u3092\u958b\u767a\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u305f\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff13\u3000\u7814\u7a76\u5185\u5bb9<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u306e\u8a08\u753b\u306f\u8907\u6570\u306e\u7814\u7a76\u9805\u76ee\u306b\u5206\u304b\u308c\u3066\u304a\u308a\uff0c\u5404\u9805\u76ee\u306e\u5b9f\u65bd\u5185\u5bb9\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306b\u793a\u3059\uff0e<\/p>\n\n\n\n<p><strong>\u2460<\/strong><strong>\u3000\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u306e\u6a5f\u69cb\u3068\u5236\u5fa1\u6cd5\u306e\u958b\u767a<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7db2\u72b6\u7d22\u9053\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3059\u308b\u306b\u306f\uff0c\u30b1\u30fc\u30d6\u30eb\u306e\u63a5\u7d9a\u70b9\uff08\u5206\u5c90\u70b9\uff09\u3092\u901a\u904e\u3057\u306a\u304c\u3089\u81ea\u8d70\u3059\u308b\u80fd\u529b\u304c\u5fc5\u8981\u3068\u306a\u308b\uff0e\u4f8b\u3048\u3070\u4e8c\u80a1\u306b\u5206\u304b\u308c\u305f\u5206\u5c90\u70b9\u3092\u901a\u904e\u3059\u308b\u306b\u306f\uff0c\u884c\u304f\u5148\u306e\uff12\u672c\u306e\u7d22\u9053\u306e\u3069\u3061\u3089\u304b\u3092\u9078\u629e\u3057\u3066\u4e57\u308a\u79fb\u308b\u3053\u3068\u304c\u3067\u304d\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\uff0e\u672c\u7814\u7a76\u958b\u59cb\u307e\u3067\u306b\u30b1\u30fc\u30d6\u30eb\u4e0a\u306e\u8d70\u884c\uff0c\u5206\u5c90\u70b9\u306b\u304a\u3051\u308b\u679d\u306e\u9078\u629e\u306e\u5206\u5c90\u70b9\u306e\u901a\u904e\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\u304c\uff0c\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u306f\u6700\u9069\u5316\u3055\u308c\u3066\u304a\u3089\u305a\uff0c\u307e\u305f\u5236\u5fa1\u6cd5\u306f\u30de\u30cb\u30e5\u30a2\u30eb\u5236\u5fa1\u3067\u3042\u308a\uff0c\u81ea\u52d5\u5316\u306b\u306f\u904b\u52d5\u5b66\u3068\u52d5\u4f5c\u8a08\u753b\u6cd5\u306e\u958b\u767a\u304c\u5fc5\u8981\u3067\u3042\u3063\u305f\uff0e<br>\u3000\u305d\u3053\u3067\uff0c\u5206\u5c90\u70b9\u3092\u8d8a\u3048\u3066\u81ea\u8d70\u3067\u304d\u308b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306b\u3064\u3044\u3066\uff0c\u73fe\u72b6\u306e\u8a66\u4f5c\u6a5f\u3092\u6539\u826f\u3057\uff0c\u3088\u308a\u5c0f\u578b\u30fb\u8efd\u91cf\u3067\u4fe1\u983c\u6027\u306e\u9ad8\u3044\u6a5f\u69cb\u3068\u57fa\u672c\u7684\u306a\u6a5f\u4f53\u306e\u59ff\u52e2\u5236\u5fa1\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e<br>\u3000\u307e\u305a\uff0cRemote Center Mechanism\uff08RCM\uff0c\u30d3\u30c7\u30aa1\uff09\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3064\u304e\u306b\u3053\u308c\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\uff0cDouble arm type\u81ea\u8d70\u6a5f\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u30e2\u30c7\u30eb\u306b\u57fa\u3065\u304d\uff0c6\u3064\u306e\u80fd\u52d5\u95a2\u7bc0\u306e\u89d2\u5909\u4f4d\u3068\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306b\u3042\u305f\u308b\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u7d50\u679c\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u9032\u884c\u3059\u308b\u526f\u7d22\u306e\u65b9\u5411\u3092\u4e0e\u3048\u308c\u3070\uff0c\u305d\u306e\u65b9\u5411\u306b\u8d70\u884c\u3059\u308b\u305f\u3081\u306e\u5404\u95a2\u7bc0\u306e\u52d5\u4f5c\u30d1\u30bf\u30fc\u30f3\u3092\u6c42\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u308c\u3092\u3082\u3068\u306b\uff0c\u52d5\u4f5c\u8a08\u753b\u624b\u6cd5\u306e\u958b\u767a\u3068\u6a5f\u69cb\u306e\u6700\u9069\u5316\u624b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e<br>\u3000\u3053\u3053\u3067\u306f\u30b1\u30fc\u30d6\u30eb\u306e\u5206\u5c90\u70b9\u3092\u30e2\u30c7\u30eb\u5316\u3057\uff0c\u307e\u305fDouble arm type\u81ea\u8d70\u6a5f\u304c\u524d\u5f8c\u306b\u6709\u3059\u308b3R\u30b7\u30ea\u30a2\u30eb\u7403\u9762\u6a5f\u69cb\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u3092\u6c42\u3081\u305f\uff0e\u7279\u306b\u3053\u306e\u6a5f\u69cb\u306f\u30b1\u30fc\u30d6\u30eb\u8ef8\u5468\u308a\u306e\u30e2\u30fc\u30e1\u30f3\u30c8\u3092\u767a\u751f\u3067\u304d\u306a\u3044\u305f\u3081\uff0c\u30b1\u30fc\u30d6\u30eb\u30e2\u30c7\u30eb\u306b\u5bfe\u3059\u308b\u524d\u5f8c\u306e\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u3092\u4e0e\u3048\u3066\u3082\u3053\u306e\u59ff\u52e2\u304c\u5b9f\u73fe\u3067\u304d\u308b\u3068\u306f\u9650\u3089\u305a\uff0c\u4e0e\u3048\u3089\u308c\u305f\u4e8c\u3064\u306e\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u3092\u5b9f\u73fe\u3059\u308b\u969b\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u30b1\u30fc\u30d6\u30eb\u306b\u5bfe\u3057\u3068\u308a\u3046\u308b\u59ff\u52e2\u306e\u7b97\u51fa\u306b\uff0c\u9759\u529b\u5b66\u7684\u306a\u3064\u308a\u5408\u3044\u3092\u8003\u616e\u3057\u305f\u904b\u52d5\u5b66\u7684\u9006\u554f\u984c\uff08Kineto-static inverse problem\uff09\u3092\u89e3\u304f\u8a08\u7b97\u624b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e\u6b21\u306b\u3053\u308c\u3092\u7528\u3044\uff0c\u5206\u5c90\u70b9\u3092\u6301\u3064\u30b1\u30fc\u30d6\u30eb\u3092\u901a\u904e\u3059\u308b\u305f\u3081\u306e\u52d5\u4f5c\u8a08\u753b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e\u5206\u5c90\u70b9\u901a\u904e\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u306e\u9077\u79fb\u3092\u7b97\u51fa\u3057\uff0c\u3053\u308c\u3092\u30af\u30a9\u30fc\u30bf\u30cb\u30aa\u30f3\u3092\u7528\u3044\u3066\u7403\u9762\u7dda\u5f62\u88dc\u9593\u3059\u308b\u3053\u3068\u3067\u76ee\u6a19\u95a2\u7bc0\u89d2\u3092\u751f\u6210\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u3055\u3089\u306b\u3053\u306e\u52d5\u4f5c\u8a08\u753b\u6cd5\u3092\u5229\u7528\u3057\uff0c\u5206\u5c90\u70b9\u8d70\u884c\u306e\u969b\u306e\u4e00\u9023\u306e\u52d5\u4f5c\u306b\u304a\u3044\u3066\u30b1\u30fc\u30d6\u30eb\u3068\u306e\u5e72\u6e09\u304c\u8d77\u3053\u3089\u305a\u307e\u305f\u7279\u7570\u70b9\u306e\u554f\u984c\u3092\u751f\u3058\u306a\u3044\u3088\u3046\u6a5f\u69cb\u5b9a\u6570\u306e\u6700\u9069\u5316\u3092\u884c\u3063\u305f\uff0e\u4ee5\u4e0a\u306b\u3088\u308a\u958b\u767a\u3057\u305f\u8a66\u4f5c\u6a5fTCC80D\u306e\u30b1\u30fc\u30d6\u30eb\u5206\u5c90\u70b9\u901a\u904e\u306e\u69d8\u5b50\u3092\u30d3\u30c7\u30aa2\uff5e6\u306b\u793a\u3059\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Motion of the spherical mechanisms\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/r-rdhU7UdIY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa1\uff0eMotion of the spherical mechanism of TCC80D<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Mobile robot traversing on a horizontal intersection of the cableway\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/Hh3Db4oguu4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa2\uff0eMobile robot TCC80D traversing a horizontal intersection of the structured cableway<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Mobile robot traversing a spatial intersection of the cableway using &quot;Tensioning&quot; 3\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/S5pYD_xPzmQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa3\uff0eMobile robot TCC80D traversing a spatial intersection of the structured cableway using \u201cTensioning\u201d<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Mobile robot traversing a spatial intersection of the cableway using &quot;Tensioning&quot; 2\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/NgXDbh9CDzM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa4\uff0eMobile robot TCC80D traversing a spatial intersection of the structured cableway using \u201cTensioning\u201d<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Mobile robot traversing a spatial intersection of the cableway using &quot;Tensioning&quot;\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/2uiEspTmaQ8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa5\uff0eMobile robot TCC80D traversing a spatial intersection of the structured cableway using \u201cTensioning\u201d<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80D: Mobile Robot Traversing a Spatially Structured Cableway\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/WD5SIUTY08o?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa6\uff0eMobile robot TCC80D traversing a spatially structured cableway<\/figcaption><\/figure>\n\n\n\n<p><strong>\u2461<\/strong><strong>\u3000\u7d22\u9053\u67b6\u8a2d\u30fb\u7d4c\u8def\u8a08\u753b\u6cd5\u306e\u7814\u7a76<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7db2\u72b6\u7d22\u9053\u306f\u76f8\u4e92\u306b\u63a5\u7d9a\u3055\u308c\u308b\u3053\u3068\u3067\u7a7a\u9593\u5185\u306b\u6298\u308c\u7dda\u7684\u306b\u67b6\u8a2d\u3055\u308c\u308b\u305f\u3081\uff0c\u3042\u308b\u7d22\u9053\uff08\u4e3b\u7d22\uff09\u306e\u76ee\u6a19\u5f62\u72b6\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u306e\u4ed6\u306e\u7d22\uff08\u526f\u7d22\uff09\u306e\u914d\u7f6e\u306f\u529b\u5b66\u7684\u306b\u5c0e\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u307e\u305f\u3053\u306e\u969b\uff0c\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u3084\u30b1\u30fc\u30d6\u30eb\u304c\u74b0\u5883\u306b\u5e72\u6e09\u3057\u306a\u3044\u7d22\u9053\u306e\u30d1\u30b9\u3092\u6c42\u3081\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e<br>\u3000\u305d\u3053\u3067\u884c\u3044\u305f\u3044\u4f5c\u696d\u306e\u30e2\u30c7\u30eb\u3068\u74b0\u5883\u30e2\u30c7\u30eb\u3092\u3082\u3068\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u3084\u30b1\u30fc\u30d6\u30eb\u304c\u74b0\u5883\u306b\u5e72\u6e09\u3057\u306a\u3044\u30b1\u30fc\u30d6\u30eb\u914d\u7f6e\u624b\u6cd5\u306e\u958b\u767a\u3092\u884c\u3063\u305f\uff0e\u5177\u4f53\u7684\u306b\u306fRRT*\u3068\u30dc\u30ed\u30ce\u30a4\u56f3\u306b\u57fa\u3065\u304f\u7d22\u9053\u7d4c\u8def\u8a08\u753b\u6cd5\u306e\u7814\u7a76\uff0c\u529b\u5b66\u7684\u3064\u308a\u5408\u3044\u3092\u8003\u616e\u3057\u305f\u526f\u7d22\u8a08\u753b\u6cd5\u306e\u958b\u767a\u3092\u884c\u3063\u305f\uff0e<\/p>\n\n\n\n<p><strong>\u3010<\/strong><strong>RRT*<\/strong><strong>\u306b\u57fa\u3065\u304f\u7d22\u9053\u7d4c\u8def\u8a08\u753b\u6cd5\u3011<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u81ea\u8d70\u6a5f\u304c\u969c\u5bb3\u7269\u3068\u306e\u5e72\u6e09\u306a\u304f\u5168\u533a\u9593\u81ea\u529b\u3067\u8d70\u884c\u53ef\u80fd\u3068\u306a\u308b\u3053\u3068\u3092\u6761\u4ef6\u3068\u3057\u305f\uff0c\u30b9\u30bf\u30fc\u30c8\u5730\u70b9\u304b\u3089\u30b4\u30fc\u30eb\u5730\u70b9\u4ed8\u8fd1\u307e\u3067\u306e\u4e3b\u7d22\u7d4c\u8def\u3092\u8907\u6570\u751f\u6210\u3057\uff0c\u305d\u306e\u4e2d\u304b\u3089\u7dcf\u8ddd\u96e2\u304c\u6700\u77ed\u306e\u7d4c\u8def\u3092\u5c0e\u51fa\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u4f5c\u6210\u3057\u305f\uff0e<br>\u624b\u6cd5\u306fRRT*\u3092\u30d9\u30fc\u30b9\u306b\uff0c\u81ea\u8d70\u6a5f\u306e\u5927\u304d\u3055\u3092\u8003\u616e\u3057\u305f\u969c\u5bb3\u7269\u3068\u306e\u5e72\u6e09\u5224\u5b9a\u3068\u81ea\u8d70\u6a5f\u306e\u8d70\u884c\u53ef\u80fd\u6700\u5927\u50be\u659c\u89d2\u30fb\u6700\u5927\u65cb\u56de\u89d2\u3092\u8003\u616e\u3057\u305f\u30a8\u30c3\u30b8\u306e\u5224\u5b9a\u3092\u884c\u306a\u3046\u3053\u3068\u3067\uff0c\u81ea\u8d70\u6a5f\u304c\u969c\u5bb3\u7269\u3068\u306e\u5e72\u6e09\u306a\u304f\u81ea\u529b\u3067\u5168\u533a\u9593\u8d70\u884c\u53ef\u80fd\u3068\u306a\u308b\u30b9\u30bf\u30fc\u30c8\u5730\u70b9\u304b\u3089\u30b4\u30fc\u30eb\u5730\u70b9\u307e\u3067\u306e\u7d4c\u8def\u3092\u8907\u6570\u751f\u6210\u3057\uff0c\u305d\u306e\u4e2d\u304b\u3089\u6700\u77ed\u7d4c\u8def\u3092\u5c0e\u51fa\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e<\/p>\n\n\n\n<p><strong>\u3010\u30dc\u30ed\u30ce\u30a4\u56f3\u306b\u57fa\u3065\u304f\u7d22\u9053\u7d4c\u8def\u8a08\u753b\u6cd5\u3011<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u5f93\u6765\uff0c\uff12\u6b21\u5143\u5e73\u9762\u3092\u5bfe\u8c61\u3068\u3057\uff0c\u6a21\u64ec\u74b0\u5883\u306b\u304a\u3044\u3066\u691c\u8a0e\u3057\u3066\u3044\u305f\u3082\u306e\u3092\u5b9f\u74b0\u5883\u3078\u306e\u9069\u7528\u3092\u60f3\u5b9a\u3057\u62e1\u5f35\u3057\u305f\uff0e\u307e\u305a\uff0c\u30ab\u30e1\u30e9\u3084LiDAR\u7b49\u3092\u7528\u3044\u3066\u8a08\u6e2c\u3057\u305f\u5b9f\u74b0\u5883\u306e\u969c\u5bb3\u7269\u7b49\u3092\u4e09\u6b21\u5143\u30dd\u30a4\u30f3\u30c8\u30af\u30e9\u30a6\u30c9\u30c7\u30fc\u30bf\u3068\u3057\u3066\u5f97\u308b\uff0e\u3053\u308c\u3092\u30dc\u30af\u30bb\u30eb\u30c7\u30fc\u30bf\u3068\u3057\u3066\u5909\u63db\u3057\uff0c\u5229\u7528\u3059\u308b\uff08\u56f31\uff09\uff0e\u3053\u306e\u30dc\u30af\u30bb\u30eb\u30c7\u30fc\u30bf\u306b\u30ed\u30dc\u30c3\u30c8\u3068\u306e\u63a5\u89e6\u3092\u8003\u616e\u3057\u305f\u3082\u306e\u306b\u57fa\u3065\u304d\u4e09\u6b21\u5143\u30dc\u30ed\u30ce\u30a4\u56f3\u3092\u751f\u6210\u3057\uff0c\u30dc\u30ed\u30ce\u30a4\u7dda\u304a\u3088\u3073\u30dc\u30ed\u30ce\u30a4\u70b9\u304b\u3089\u7d22\u9053\u304a\u3088\u3073\u7d4c\u8def\u3092\u4f5c\u308b\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e1.png\" alt=\"\" class=\"wp-image-433\"\/><figcaption class=\"wp-element-caption\">(a) \u8a08\u6e2c\u30c7\u30fc\u30bf<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e2.png\" alt=\"\" class=\"wp-image-434\"\/><figcaption class=\"wp-element-caption\">(b) \u7a7a\u9593\u306e\u91cf\u5b50\u5316<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e3.png\" alt=\"\" class=\"wp-image-435\" style=\"width:201px;height:auto\"\/><figcaption class=\"wp-element-caption\">(c) \u30dc\u30af\u30bb\u30eb\u5316<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e4.png\" alt=\"\" class=\"wp-image-442\"\/><figcaption class=\"wp-element-caption\">(d) \u30dc\u30af\u30bb\u30eb\u62bd\u51fa<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e5.png\" alt=\"\" class=\"wp-image-443\"\/><figcaption class=\"wp-element-caption\">(e) \u5857\u308a\u3064\u3076\u3057\u51e6\u7406<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"250\" height=\"229\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/e6.png\" alt=\"\" class=\"wp-image-444\" style=\"width:201px;height:auto\"\/><figcaption class=\"wp-element-caption\">(f) \u969c\u5bb3\u7269\u30de\u30c3\u30d7<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f31. \u74b0\u5883\u306e\u8a08\u6e2c\u60c5\u5831\u306b\u57fa\u3065\u304f\u969c\u5bb3\u7269\u306e\u4f4d\u7f6e\u306e\u62bd\u51fa\u624b\u6cd5<\/p>\n\n\n\n<p><strong>\u3010\u529b\u5b66\u7684\u3064\u308a\u5408\u3044\u3092\u8003\u616e\u3057\u305f\u526f\u7d22\u8a08\u753b\u6cd5\u3011<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u30003\u6b21\u5143\u7a7a\u9593\u5185\u3067\u306e\u526f\u7d22\u9053\u306e\u751f\u6210\u624b\u6cd5\u306b\u3064\u3044\u3066\u7814\u7a76\u3057\u305f\uff0e\u7d50\u7bc0\u70b9\u306e\u7a7a\u9593\u306b\u304a\u3051\u308b\u4f4d\u7f6e\u306e3\u81ea\u7531\u5ea6\u3092\u62d8\u675f\u3059\u308b\u305f\u3081\u306b\u306f4\u672c\u4ee5\u4e0a\u306e\u30ef\u30a4\u30e4\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u7d50\u7bc0\u70b9\u306b\u7d22\u9053\u3092\u69cb\u6210\u3059\u308b2\u672c\u306e\u30ef\u30a4\u30e4\u306b\u52a0\u3048\uff0c\u526f\u7d22\u9053\u3092\u5f62\u6210\u3059\u308b\u30ef\u30a4\u30e4\u306f2\u672c\u4ee5\u4e0a\u5fc5\u8981\u3067\u3042\u308b\uff0e\u672c\u7814\u7a76\u3067\u306f\u526f\u7d22\u9053\u30922\u672c\u3068\u3057\uff0c1\u672c\u76ee\u306f\u7d50\u7bc0\u70b9\u306b\u304a\u3051\u308b\u4fdd\u6301\u529b\u3092\u6700\u5927\u5316\u3059\u308b\u3088\u3046\uff0c2\u672c\u76ee\u306f\u7d22\u9053\u304a\u3088\u3073\u526f\u7d22\u9053\u3078\u306e\u5f35\u529b\u304c\u5747\u7b49\u306b\u5206\u914d\u3055\u308c\u308b\u3088\u3046\u306b\u65b9\u5411\u3092\u6c7a\u5b9a\u3059\u308b\uff0e\u3053\u308c\u3092\u81ea\u52d5\u7684\u306b\u8a08\u7b97\u53ef\u80fd\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u3057\u3066\u5b9f\u88c5\u3057\u305f\uff0e\u751f\u6210\u3057\u305f\u9069\u7528\u4f8b\u3092\u56f32\u306b\u793a\u3059\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"454\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f1-1.png\" alt=\"\" class=\"wp-image-447\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f1-1.png 454w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f1-1-297x300.png 297w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f1-1-150x150.png 150w\" sizes=\"auto, (max-width: 454px) 100vw, 454px\" \/><figcaption class=\"wp-element-caption\">(a) 1\u672c\u76ee\u306e\u526f\u7d22\u9053\u304a\u3088\u3073\u56fa\u5b9a\u4f4d\u7f6e\u3054\u3068\u306e\u4fdd\u6301\u529b<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"454\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f2-1.png\" alt=\"\" class=\"wp-image-448\" style=\"width:317px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f2-1.png 454w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f2-1-297x300.png 297w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f2-1-150x150.png 150w\" sizes=\"auto, (max-width: 454px) 100vw, 454px\" \/><figcaption class=\"wp-element-caption\">(b) 2\u672c\u76ee\u306e\u526f\u7d22\u9053<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f32. \u526f\u7d22\u9053\u306e\u751f\u6210<\/p>\n\n\n\n<p><strong>\u3010\u7d22\u9053\u67b6\u8a2d\u6cd5\u306e\u7814\u7a76\uff08\u6295\u64f2\u30ed\u30dc\u30c3\u30c8\u306e\u7814\u7a76\uff09\u3011<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u30ed\u30dc\u30c3\u30c8\u81ea\u4f53\u304c\u7d22\u9053\u304a\u3088\u3073\u526f\u7d22\u9053\u3092\u67b6\u8a2d\u3067\u304d\u308b\u624b\u6cd5\u3092\u8003\u6848\u3057\uff0c\u305d\u306e\u305f\u3081\u306e\u30b1\u30fc\u30d6\u30eb\u306e\u30e2\u30c7\u30eb\u3092\u69cb\u7bc9\u3057\u305f\uff0e\u56f33\u306b\u672c\u7814\u7a76\u3067\u7528\u3044\u308b\u67b6\u8a2d\u65b9\u6cd5\u3092\u793a\u3059\uff0e\u7269\u4f53\u3092\u6295\u64f2\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u30ed\u30dc\u30c3\u30c8\u306b\u642d\u8f09\u3059\u308b\u67d4\u8edf\u306a\u69cb\u9020\u7269\u306b\u3088\u308a\u30b1\u30fc\u30d6\u30eb\u81ea\u4f53\u3092\u6295\u64f2\u3059\u308b\uff0e\u67b6\u8a2d\u3057\u305f\u3044\u65e2\u5b58\u306e\u7d22\u9053\u3084\u7269\u4f53\uff08\u6728\u679d\u306a\u3069\uff09\u306b\u30b1\u30fc\u30d6\u30eb\u3092\u639b\u3051\uff0c\u30b1\u30fc\u30d6\u30eb\u3092\u624b\u7e70\u308a\u3088\u305b\u308b\u3053\u3068\u3067\u5148\u7aef\u306e\u9264\u72b6\u306e\u69cb\u9020\u7269\u3092\u56fa\u5b9a\u3059\u308b\uff0e\u3053\u306e\u30b1\u30fc\u30d6\u30eb\u306e\u6295\u64f2\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u306b\u56f34\u306b\u793a\u3059\u525b\u4f53\u591a\u30ea\u30f3\u30af\u30e2\u30c7\u30eb\u3068\u3057\u3066\u6295\u64f2\u6a5f\u69cb\u304a\u3088\u3073\u30b1\u30fc\u30d6\u30eb\u3092\u30e2\u30c7\u30eb\u5316\u3057\uff0c\u57fa\u790e\u5b9f\u9a13\u3088\u308a\u30e2\u30c7\u30eb\u306e\u59a5\u5f53\u6027\u3092\u78ba\u8a8d\u3057\u305f\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"246\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f3a.png\" alt=\"\" class=\"wp-image-449\"\/><figcaption class=\"wp-element-caption\">(a) \u7d22\u9053\u304a\u3088\u3073\u526f\u7d22\u9053\u3068\u306a\u308b\u30ef\u30a4\u30e4\u306e\u6295\u64f2<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"216\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f3b.png\" alt=\"\" class=\"wp-image-450\"\/><figcaption class=\"wp-element-caption\">(b) \u6295\u64f2\u5f8c\u306e\u65e2\u5b58\u7d22\u9053\u3068\u306e\u63a5\u7d9a<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f33. \u30ef\u30a4\u30e4\u306e\u6295\u64f2\u306b\u3088\u308b\u7d22\u9053\u304a\u3088\u3073\u526f\u7d22\u9053\u306e\u67b6\u8a2d<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"477\" height=\"300\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f4.jpg\" alt=\"\" class=\"wp-image-451\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f4.jpg 477w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f4-300x189.jpg 300w\" sizes=\"auto, (max-width: 477px) 100vw, 477px\" \/><figcaption class=\"wp-element-caption\">\u56f34\u3000\u30ef\u30a4\u30e4\u304a\u3088\u3073\u6295\u64f2\u6a5f\u69cb\u306e\u30e2\u30c7\u30eb<\/figcaption><\/figure>\n\n\n\n<p><strong>\u2462<\/strong><strong>\u3000\u7269\u8cc7\u904b\u642c\u30fb\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u6280\u8853\u306e\u958b\u767a<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u3068\u9023\u643a\u3057\u3066\u7269\u8cc7\u904b\u642c\uff0c\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u3092\u884c\u3046\u5c0f\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u958b\u767a\u306b\u53d6\u308a\u7d44\u3093\u3060\uff0e<br>\u3000\u3053\u306e\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u6797\u5e8a\u3092\u8986\u3046\u7b39\u3084\u4f4e\u6728\u3092\u56de\u907f\u3059\u308b\u305f\u3081\u306b\u5730\u8868\u304b\u3089\u4e00\u5b9a\u4ee5\u4e0a\u306e\u9ad8\u3055\u306b\u67b6\u8a2d\u3055\u308c\u305f\u7db2\u72b6\u7d22\u9053\u4e0a\u306e\u81ea\u8d70\u6a5f\u304b\u3089\u5730\u8868\u307e\u3067\uff0c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u304b\u3089\u5dfb\u304d\u53d6\u308a\u6a5f\u69cb\u3092\u5099\u3048\u305f\u30c6\u30b6\u30fc\u306b\u3088\u3063\u3066\u964d\u4e0b\u3059\u308b\u3053\u3068\u3067\uff0c\u5730\u8868\u4ed8\u8fd1\u306e\u89b3\u5bdf\u3084\u5730\u8868\u3078\u306e\u5c0f\u52d5\u7269\u7528\u30c8\u30e9\u30c3\u30d7\u3084\u30bb\u30f3\u30b5\u306e\u6577\u8a2d\u3092\u304a\u3053\u306a\u3046\uff0e\u672c\u7814\u7a76\u3067\u306f\uff0c\u964d\u4e0b\u4e2d\u306b\u6a39\u679d\u3084\u5ca9\u306a\u3069\u306e\u969c\u5bb3\u7269\u3092\u56de\u907f\u3059\u308b\u305f\u3081\u306e\u80fd\u52d5\u30d5\u30ea\u30c3\u30d1\u30fc\u306a\u3089\u3073\u306b\uff0c\u305d\u308c\u3089\u3092\u99c6\u52d5\u3057\u305f\u969b\u306b\u751f\u3058\u308b\u30c6\u30b6\u30fc\u307e\u308f\u308a\u306e\u56de\u8ee2\u3092\u6291\u5236\u3059\u308b\u305f\u3081\u306e\u30d5\u30e9\u30a4\u30db\u30a4\u30fc\u30eb\uff0c\u6ed1\u843d\u306b\u3088\u3063\u3066\u5730\u8868\u3084\u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u305f\u969b\u306e\u885d\u6483\u3092\u7de9\u548c\u3059\u308b\u6a5f\u69cb\uff0c\u306a\u3089\u3073\u306b\u305d\u308c\u3089\u306e\u5236\u5fa1\u7cfb\u306b\u3064\u3044\u3066\u306e\u8981\u7d20\u6280\u8853\u306e\u958b\u767a\u3092\u884c\u3063\u305f\uff0e\u307e\u305f\u5404\u8981\u7d20\u6280\u8853\u306b\u3064\u3044\u3066\u8a66\u4f5c\u6a5f\u3092\u958b\u767a\u3057\u305f\uff0e\u4f8b\u3068\u3057\u3066\u80fd\u52d5\u30d5\u30ea\u30c3\u30d1\u3092\u5099\u3048\u305f\u8a66\u4f5c\u6a5f\u3092\u30d3\u30c7\u30aa7\u306b\uff0c\u30c6\u30b6\u30fc\u307e\u308f\u308a\u306e\u56de\u8ee2\u3092\u6291\u5236\u3059\u308b\u305f\u3081\u306e\u30d5\u30e9\u30a4\u30db\u30a4\u30fc\u30eb\u3092\u5099\u3048\u305f\u8a66\u4f5c\u6a5f\u3092\u56f35\u306b\u793a\u3059\uff0e\u3053\u306e\u6a5f\u4f53\u306b\u306f\uff0c\u96fb\u6e90\uff0c\u5236\u5fa1\u56de\u8def\uff0c\u7121\u7dda\u901a\u4fe1\u6a5f\u304c\u642d\u8f09\u3055\u308c\u3066\u304a\u308a\uff0c\u9060\u9694\u64cd\u4f5c\u306b\u3088\u3063\u3066\u81ea\u5f8b\u7684\u306b\u52d5\u4f5c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3068\u306a\u3063\u3066\u3044\u308b\uff0e<br>\u3000\u958b\u767a\u3057\u305f\u5404\u8a66\u4f5c\u6a5f\u306b\u3064\u3044\u3066\uff0c\u5b9f\u9a13\u306b\u3088\u3063\u3066\u68ee\u6797\u3067\u306e\u4f7f\u7528\u306b\u8010\u3048\u3046\u308b\u6027\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u305f\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"2019 WAPIT mobility test\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/27YsLRRoEcA?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa7\uff0e\u80fd\u52d5\u30d5\u30ea\u30c3\u30d1\u3092\u5099\u3048\u305f\u964d\u4e0b\u30ed\u30dc\u30c3\u30c8<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"644\" height=\"688\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f5.png\" alt=\"\" class=\"wp-image-452\" style=\"width:372px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f5.png 644w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f5-281x300.png 281w\" sizes=\"auto, (max-width: 644px) 100vw, 644px\" \/><figcaption class=\"wp-element-caption\">\u56f35\uff0e\u30c6\u30b6\u30fc\u307e\u308f\u308a\u306e\u56de\u8ee2\u6291\u5236\u6a5f\u69cb\u3092\u5099\u3048\u305f\u964d\u4e0b\u30ed\u30dc\u30c3\u30c8\uff08\u56f3\u4e2d\u306e\u5bf8\u6cd5\u306e\u5358\u4f4d\u306fmm\uff09<\/figcaption><\/figure>\n\n\n\n<p><strong>\u2463\u3000\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u30ed\u30dc\u30c3\u30c8\u306b\u3088\u308b\u4f5c\u696d\u6280\u8853\u306e\u958b\u767a<\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u3067\u63d0\u6848\u3059\u308b\uff0c\u53ef\u52d5\u7bc4\u56f2\u3092\u5909\u5f62\u3067\u304d\u308b\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u5b9f\u65bd\u4f8b\u3068\u3057\u3066\uff0c\u958b\u767a\u3057\u305f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u30922\u53f0\u7528\u3044\u305f3\u81ea\u7531\u5ea6\u6a5f\u69cb\u3092\u8a66\u4f5c\u3057\u305f\uff0e<br>\u3000\u958b\u767a\u3057\u305f\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u52d5\u4f5c\u5b9f\u9a13\u306e\u69d8\u5b50\u3092\u30d3\u30c7\u30aa8\u306b\u793a\u3059\uff0e\u7a7a\u9593\u7684\u306b\u67b6\u8a2d\u3057\u305f\u7db2\u72b6\u7d22\u9053\u4e0a\u3092\u8d70\u884c\u3059\u308b2\u53f0\u306eDouble arm\u578b\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5fTCC80D\u306b\u305d\u308c\u305e\u308c\u30a6\u30a4\u30f3\u30c1\u3092\u53d6\u308a\u4ed8\u3051\uff0c\u3053\u308c\u3089\u3088\u308a\u7e70\u308a\u51fa\u30592\u672c\u306e\u30ef\u30a4\u30e4\u3092\u7528\u3044\u3066\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306e\u4f4d\u7f6e\u6c7a\u3081\u3092\u884c\u3046\u30b7\u30b9\u30c6\u30e0\u3067\u3042\u308b\uff0e<br>\u3000\u3053\u306e\u5b9f\u9a13\u3067\u306f\uff0c\u969c\u5bb3\u7269\u3092\u53d6\u308a\u56f2\u3080\u3088\u3046\u306b\u7db2\u72b6\u7d22\u9053\u304c\u67b6\u8a2d\u3055\u308c\u3066\u3044\u308b\uff0c\u3053\u306e\u3088\u3046\u306a\u74b0\u5883\u306b\u304a\u3044\u3066\u306f\uff0c\u901a\u5e38\u306e\u61f8\u5782\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3067\u306f\u30ef\u30a4\u30e4\u3068\u969c\u5bb3\u7269\u306e\u5e72\u6e09\u306e\u305f\u3081\u306b\u969c\u5bb3\u7269\u306e\u5468\u56f2\u306b\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u3092\u4f4d\u7f6e\u6c7a\u3081\u3059\u308b\u3053\u3068\u306f\u56f0\u96e3\u3067\u3042\u308b\u304c\uff0c\u63d0\u6848\u3057\u305f\u30b7\u30b9\u30c6\u30e0\u306f\u969c\u5bb3\u7269\u3092\u907f\u3051\u308b\u3088\u3046\u306b\u81ea\u8d70\u6a5f\u304c\u79fb\u52d5\u3059\u308b\u3053\u3068\u3067\u969c\u5bb3\u7269\u3068\u30ef\u30a4\u30e4\u304c\u5e72\u6e09\u3057\u306a\u3044\u61f8\u5782\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3092\u69cb\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"TCC80: Reconfiguration of a cable driven parallel robot by multiple cable traversing robots\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/3_8I3GaJSlg?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">\u30d3\u30c7\u30aa8\uff0e\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u30ed\u30dc\u30c3\u30c8\u306e\u69cb\u6210\u3068\u30ab\u30e1\u30e9\u4f4d\u7f6e\u6c7a\u3081\u5b9f\u9a13<\/figcaption><\/figure>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff14\u3000\u672c\u7814\u7a76\u304c\u5b9f\u793e\u4f1a\u306b\u3069\u3046\u6d3b\u304b\u3055\u308c\u308b\u304b\u30fc\u5c55\u671b<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u306e\u6210\u679c\u306f\uff0c\u4e2d\u9577\u671f\u7684\u306b\u306f\uff0c\u5c71\u6797\u5185\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306e\u975e\u6574\u5099\u74b0\u5883\u306b\u304a\u3051\u308b\u7d99\u7d9a\u7684\u306a\u7269\u8cc7\u904b\u642c\u3084\u898b\u56de\u308a\u306a\u3069\u306b\u6709\u7528\u306a\uff0c\u9ad8\u52b9\u7387\u30fb\u9ad8\u901f\u3067\u4fe1\u983c\u6027\u306e\u9ad8\u3044\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u73fe\uff0c\u307e\u305f\u969c\u5bb3\u7269\u306e\u591a\u3044\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u8abf\u67fb\u3084\u6551\u52a9\uff0c\u4f5c\u696d\u306b\u6709\u7528\u306a\uff0c\u9ad8\u51fa\u529b\u306a\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u73fe\u3068\u3044\u3046\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u3068\u306a\u308b\uff0e\u3053\u308c\u3089\u306e\u6280\u8853\u306f\u707d\u5bb3\u5bfe\u5fdc\u30ed\u30dc\u30c3\u30c8\u3084\u5ec3\u7089\u4f5c\u696d\u30ed\u30dc\u30c3\u30c8\uff0c\u9664\u67d3\u4f5c\u696d\u30ed\u30dc\u30c3\u30c8\uff0c\u81ea\u7136\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\uff0c\u8fb2\u6797\u696d\u7528\u30ed\u30dc\u30c3\u30c8\u306b\u5fdc\u7528\u53ef\u80fd\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u5b9f\u7528\u5316\u306e\u305f\u3081\u306b\u672c\u7814\u7a76\u306e\u6210\u679c\u306f\u4e0d\u53ef\u6b20\u3067\u3042\u308b\uff0e<br>\u3000\u3055\u3089\u306b\uff0c\u672c\u7814\u7a76\u306e\u6210\u679c\u3092\u8e0f\u307e\u3048\uff0c\u30c6\u30fc\u30de\u3092\u3055\u3089\u306b\u62e1\u5f35\u3057\u65b0\u305f\u306a\u5171\u540c\u7814\u7a76\u8005\u306e\u53c2\u753b\u3082\u542b\u3081\u305f\u7814\u7a76\u8a08\u753b\u30672021-2022\u5e74\u5ea6\u306e\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u7814\u7a76\u88dc\u52a9\u306b\u5fdc\u52df\u3057\uff0c\u4ea4\u4ed8\u6c7a\u5b9a\u3092\u9802\u3044\u3066\u3044\u308b\uff0e\u3053\u308c\u306f\u672c\u7814\u7a76\u306e\u6210\u679c\u3092\u30d9\u30fc\u30b9\u306b\uff0c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306b\u52a0\u3048\u3066\uff0c\u30b1\u30fc\u30d6\u30eb\u306e\u6295\u64f2\u306b\u3088\u308a\u74b0\u5883\u306b\u7d22\u9053\u3092\u67b6\u8a2d\u3059\u308b\u6295\u64f2\u30ed\u30dc\u30c3\u30c8\uff0c\u30b1\u30fc\u30d6\u30eb\u3092\u3051\u3093\u5f15\u3057\u306a\u304c\u3089\u6295\u64f2\u3055\u308c\u308b\u88ab\u6295\u64f2\u30ed\u30dc\u30c3\u30c8\u3088\u308a\u69cb\u6210\u3055\u308c\uff0c\u3053\u308c\u3089\u306b\u3088\u308a\u975e\u6574\u5099\u74b0\u5883\u306b\u304a\u3051\u308b\u7db2\u72b6\u7d22\u9053\u306e\u81ea\u52d5\u69cb\u7bc9\u3068\u3053\u306e\u4e0a\u306e\u81ea\u8d70\uff0c\u3053\u3053\u304b\u3089\u306e\u964d\u4e0b\u306b\u3088\u308b\u7d22\u9053\u4e0b\u3078\u306e\u4f4d\u7f6e\u6c7a\u3081\u7b49\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u308b\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u3067\u3042\u308a\uff0c\u66f4\u306a\u308b\u6210\u679c\u304c\u671f\u5f85\u3067\u304d\u308b\uff0e<br>\u3000\u307e\u305f\u672c\u7814\u7a76\u306e\u6210\u679c\u306b\u8208\u5473\u3092\u6301\u3063\u3066\u3044\u308b\u4f01\u696d\u3082\u3042\u308a\uff0c\u65e9\u671f\u306e\u5b9f\u7528\u5316\u3082\u671f\u5f85\u3067\u304d\u308b\u3068\u8003\u3048\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff15\u3000\u6559\u6b74\u30fb\u7814\u7a76\u6b74\u306e\u6d41\u308c\u306b\u304a\u3051\u308b\u4eca\u56de\u7814\u7a76\u306e\u4f4d\u7f6e\u3065\u3051<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7814\u7a76\u4ee3\u8868\u8005\u306e\u83c5\u539f\u96c4\u4ecb\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u8a2d\u8a08\u5b66\u306e\u69cb\u7bc9\u3068\u5c55\u958b\u3092\u30e9\u30a4\u30d5\u30ef\u30fc\u30af\u3068\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u4e2d\u3067\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u300d\u3068\u300c\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u6a5f\u69cb\u300d\u306f\uff0c\u307e\u3063\u305f\u304f\u65b0\u305f\u306a\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u63d0\u6848\u3092\u884c\u3046\u3068\u3044\u3046\u610f\u5473\u3067\u5927\u304d\u306a\u610f\u5473\u306e\u3042\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3092\u8ecc\u9053\u4e0a\u3092\u81ea\u8d70\u3059\u308b\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u5fdc\u7528\u3059\u308b\u30b3\u30f3\u30bb\u30d7\u30c8\u306f\u7279\u306b\uff0c\u30c9\u30ed\u30fc\u30f3\u3084SLAM\u306a\u3069\u6700\u8fd1\u6025\u901f\u306b\u767a\u5c55\u3057\u3066\u304d\u3066\u3044\u308b\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u5206\u91ce\u306b\u5bfe\u3059\u308b\u30e1\u30ab\u30cb\u30ba\u30e0\u7814\u7a76\u8005\u3068\u3057\u3066\u306e\u6311\u6226\u3067\u3042\u308b\uff0e<br>\u3000\u5171\u540c\u7814\u7a76\u8005\u306e\u9060\u85e4\u592e\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u7814\u7a76\u306b\u304a\u3044\u3066\u6301\u7d9a\u53ef\u80fd\u6027\u3092\u30ad\u30fc\u30ef\u30fc\u30c9\u3068\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u6280\u8853\u306e\u5fdc\u7528\u306b\u53d6\u308a\u7d44\u3093\u3067\u304a\u308a\uff0c\u6e56\u6cbc\u3084\u68ee\u6797\u306e\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u7b49\u3078\u306e\u5fdc\u7528\u304c\u53ef\u80fd\u3067\u3042\u308b\u672c\u7814\u7a76\u306f\u305d\u306e\u6d41\u308c\u306b\u4f4d\u7f6e\u4ed8\u3051\u3089\u308c\u308b\uff0e\u307e\u305f\u30ef\u30a4\u30e4\u306e\u7279\u6027\u306b\u7740\u76ee\u3057\u305f\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u7814\u7a76\u3084\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u30b7\u30b9\u30c6\u30e0\u306e\u7814\u7a76\u306b\u3082\u53d6\u308a\u7d44\u3093\u3067\u304a\u308a\uff0c\u3053\u308c\u3089\u306e\u57fa\u790e\u6280\u8853\u306e\u5fdc\u7528\u7814\u7a76\u3068\u3057\u3066\u91cd\u8981\u306a\u610f\u5473\u3092\u6301\u3064\uff0e<br>\u3000\u5171\u540c\u7814\u7a76\u8005\u3067\u3042\u308b\u77f3\u4e95\u88d5\u4e4b\u306f\uff0c\u81ea\u7136\u3084\u751f\u7269\u3068\u5171\u751f\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u6280\u8853\u306e\u958b\u767a\u306b\u53d6\u308a\u7d44\u3093\u3067\u304a\u308a\uff0c\u8fd1\u5e74\uff0c\u68ee\u6797\u306b\u304a\u3051\u308b\u91ce\u751f\u52d5\u690d\u7269\u306e\u89b3\u5bdf\u3084\u4fdd\u5168\u306e\u305f\u3081\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u958b\u767a\u306b\u7279\u306b\u6ce8\u529b\u3057\u3066\u3044\u308b\uff0e\u672c\u7814\u7a76\u306b\u304a\u3044\u3066\u958b\u767a\u3092\u9032\u3081\u308b\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u68ee\u6797\u5185\u3067\u306e\u65b0\u305f\u306a\u79fb\u52d5\u6280\u8853\u3068\u3057\u3066\u6975\u3081\u3066\u6709\u671b\u3067\u3042\u308a\uff0c\u307e\u305f\u3053\u308c\u307e\u3067\u958b\u767a\u3057\u3066\u304d\u305f\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u3068\u306e\u9023\u643a\u3082\u671f\u5f85\u3055\u308c\uff0c\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u68ee\u6797\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u3092\u52a0\u901f\u3059\u308b\u91cd\u8981\u306a\u7814\u7a76\u3068\u4f4d\u7f6e\u4ed8\u3051\u3089\u308c\u308b\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff16\u3000\u672c\u7814\u7a76\u306b\u304b\u304b\u308f\u308b\u77e5\u8ca1\u30fb\u767a\u8868\u8ad6\u6587\u7b49<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3010\u8ad6\u6587\u30fb\u56fd\u969b\u4f1a\u8b70\uff08\u67fb\u8aad\u4ed8\uff09\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>1.&nbsp;<\/td><td>\u52a0\u7d0d\u5f18\u55e3\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u9060\u85e4\u592e\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u6b66\u7530\u884c\u751f\uff0c\u7a7a\u9593\u306b\u69cb\u9020\u7684\u306b\u67b6\u8a2d\u3055\u308c\u305f\u7db2\u72b6\u306e\u7d22\u9053\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u7814\u7a76\uff08\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u578b\u306e\u904b\u52d5\u5b66\uff0c\u52d5\u4f5c\u8a08\u753b\u3068\u6a5f\u69cb\u306e\u6700\u9069\u5316\u306b\u3064\u3044\u3066\uff09\uff0c\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u8a8c\uff0c\u5dfb\u53f7\u672a\u5b9a\uff0c\u30da\u30fc\u30b8\u672a\u5b9a\uff0c2021\uff0e\uff08\u63a1\u9332\u6c7a\u5b9a\u6e08\uff0c\u5370\u5237\u4e2d\uff09<\/td><\/tr><tr><td>2.&nbsp;<\/td><td>Andres Osorio Salazar, Yusuke Sugahara, Daisuke Matsuura, Yukio Takeda, Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature, Machines, Vol. 9, Issue 1, 14, 2021.<\/td><\/tr><tr><td>3.&nbsp;<\/td><td>Yusuke Sugahara, Guangcan Chen, Nanato Atsumi, Daisuke Matsuura, Yukio Takeda, Ryo Mizutani and Ryuta Katamura, A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation, In: Venture G., Solis J., Takeda Y., Konno A. (eds), ROMANSY 23 &#8211; The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020), pp. 109-117, Springer, Cham, 2020.<\/td><\/tr><tr><td>4.&nbsp;<\/td><td>Andres Osorio Salazar, Yusuke Sugahara, Daisuke Matsuura, and Yukio Takeda, A Novel, Scalable Shape Memory Alloy Actuator Controlled by Fluid Temperature, In: Niola V., Gasparetto A. (eds), Advances in Italian Mechanism Science, The 3rd International Conference of IFToMM ITALY, pp. 617-625, Springer, Cham, 2020.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u3010\u56fd\u5185\u4f1a\u8b70\u4e88\u7a3f\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>5.&nbsp;<\/td><td>\u88b4\u7530\u907c\u5178\uff0c\u9060\u85e4\u592e\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u6b66\u7530\u884c\u751f\uff0c\u30d5\u30e9\u30a4\u30d5\u30a3\u30c3\u30b7\u30f3\u30b0\u306e\u539f\u7406\u3092\u5fdc\u7528\u3057\u305f\u5c0f\u578b\u4f4e\u51fa\u529b\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u306b\u3088\u308b\u6295\u64f2\u306e\u7814\u7a76\uff08\u7b2c\uff11\u5831\uff1a\u30ed\u30c3\u30c9\u304b\u3089\u306e\u7e70\u308a\u51fa\u3057\u3092\u8003\u616e\u3057\u305f\u30e9\u30a4\u30f3\u306e\u30e2\u30c7\u30ea\u30f3\u30b0\uff09\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a\uff08ROBOMECH2021\uff09\uff0c2P3-H15\uff0c2021\uff0e\uff08\u5370\u5237\u4e2d\uff09<\/td><\/tr><tr><td>6.&nbsp;<\/td><td>\u52a0\u7d0d\u5f18\u55e3\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u9060\u85e4\u592e\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u6b66\u7530\u884c\u751f\uff0c\u7a7a\u9593\u306b\u69cb\u9020\u7684\u306b\u67b6\u8a2d\u3055\u308c\u305f\u7db2\u72b6\u306e\u7d22\u9053\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u7814\u7a76\uff08\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u578b\u306e\u904b\u52d5\u5b66\uff0c\u52d5\u4f5c\u8a08\u753b\u3068\u6a5f\u69cb\u306e\u6700\u9069\u5316\u306b\u3064\u3044\u3066\uff09\uff0c\u7b2c38\u56de\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u5b66\u8853\u8b1b\u6f14\u4f1a\u8b1b\u6f14\u4e88\u7a3f\u96c6\uff0c3C1-04\uff0c2020\uff0e<\/td><\/tr><tr><td>7.&nbsp;<\/td><td>\u91ce\u7530\u6176\u592a\uff0c\u677e\u5e83\u822a\uff0cNu Nuwin\uff0c\u9234\u6728\u6ecb\u82f1\uff0c\u6625\u5c71\u7d14\u4e00\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u9ad8\u897f\u6df3\u592b\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u59ff\u52e2\u5236\u5fa1\u3092\u884c\u3044\u7e26\u5b54\u58c1\u9762\u306e\u63a2\u67fb\u3092\u884c\u3046\u5c0f\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u88fd\u4f5c\uff0c\u7b2c38\u56de\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u5b66\u8853\u8b1b\u6f14\u4f1a\uff0c2F1-07\uff0c2020\uff0e<\/td><\/tr><tr><td>8.&nbsp;<\/td><td>\u9060\u85e4\u592e\uff0c\u5e02\u5ddd\u5927\u4e5f\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u5f0f\u69cb\u9020\u53ef\u5909\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u2015\u7db2\u72b6\u7d22\u9053\u306e\u751f\u6210\u624b\u6cd5\u2015\uff0c\u7b2c37\u56de\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u5b66\u8853\u8b1b\u6f14\u4f1a\uff0c1H1-05\uff0c2019\uff0e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u3010\u62db\u5f85\u8b1b\u6f14\u306a\u3069\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>9.&nbsp;<\/td><td>\u83c5\u539f\u96c4\u4ecb\uff0c\u5dee\u52d5\u6a5f\u69cb\u3092\u7528\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u99c6\u52d5\u306b\u3064\u3044\u3066\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u7814\u7a76\u5354\u529b\u4e8b\u696d\u59d4\u54e1\u4f1aRC283\u300c\u6b6f\u8eca\u88c5\u7f6e\u306e\u8a2d\u8a08\u30fb\u88fd\u9020\u30fb\u8a55\u4fa1\u306b\u95a2\u3059\u308b\u9769\u65b0\u6280\u8853\u306e\u305f\u3081\u306e\u8a66\u9a13\u30fb\u8abf\u67fb\u7814\u7a76\u5206\u79d1\u4f1a\u300d\u7b2c3\u56de\u5168\u4f53\u5206\u79d1\u4f1a\u300c\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u652f\u3048\u308b\u8981\u7d20\u6280\u8853\u306e\u6700\u65b0\u52d5\u5411\uff5e\u6b6f\u8eca\u3068\u305d\u306e\u30e9\u30a4\u30d0\u30eb\u9054\uff5e\u300d\uff0c\u795e\u5948\u5ddd\u770c\uff0c2020\u5e741\u6708\uff0e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><strong>\uff17\u3000\u88dc\u52a9\u4e8b\u696d\u306b\u4fc2\u308b\u6210\u679c\u7269<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\uff08\uff11\uff09\u88dc\u52a9\u4e8b\u696d\u306b\u3088\u308a\u4f5c\u6210\u3057\u305f\u3082\u306e<br>\u3000\u7121\u3057<br>\uff08\uff12\uff09\uff08\uff11\uff09\u4ee5\u5916\u3067\u5f53\u4e8b\u696d\u306b\u304a\u3044\u3066\u4f5c\u6210\u3057\u305f\u3082\u306e<br>\u3000\u524d\u8ff0\u306e\u767a\u8868\u8ad6\u6587\u7b49<\/p>\n\n\n\n<p><strong>\uff18\u3000\u4e8b\u696d\u5185\u5bb9\u306b\u3064\u3044\u3066\u306e\u554f\u3044\u5408\u308f\u305b\u5148<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u6240\u5c5e\u6a5f\u95a2\u540d\uff1a\u6771\u4eac\u5de5\u696d\u5927\u5b66<br>\u3000\u3000\u3000\u3000\u3000\u3000\uff08\u30c8\u30a6\u30ad\u30e7\u30a6\u30b3\u30a6\u30ae\u30e7\u30a6\u30c0\u30a4\u30ac\u30af\uff09<br>\u4f4f\u3000\u3000\u3000\u6240\uff1a\u3012152-8552<br>\u3000\u3000\u3000\u3000\u3000\u3000\u6771\u4eac\u90fd\u76ee\u9ed2\u533a\u5927\u5ca1\u5c71\uff12\uff0d\uff11\uff12\uff0d\uff11\uff08i6-15\uff09<br>\u7533\u3000\u8acb\u3000\u8005\uff1a\u51c6\u6559\u6388\u3000\u83c5\u539f\u96c4\u4ecb\uff08\u30b9\u30ac\u30cf\u30e9\u30e6\u30a6\u30b9\u30b1\uff09<br>\u62c5\u5f53\u90e8\u7f72\uff1a\u3000\u5de5\u5b66\u9662 \u6a5f\u68b0\u7cfb \u6a5f\u80fd\u30b7\u30b9\u30c6\u30e0\u5b66\u5206\u91ce<br>\u3000\u3000\u3000\u3000\u3000\u3000\uff08\u30b3\u30a6\u30ac\u30af\u30a4\u30f3 \u30ad\u30ab\u30a4\u30b1\u30a4 \u30ad\u30ce\u30a6\u30b7\u30b9\u30c6\u30e0\u30ac\u30af\u30d6\u30f3\u30e4\uff09<br>E-mail\uff1a\u3000\u3000info[\u65bc]msd.mech.e.titech.ac.jp \uff08[\u65bc]\u2192@\uff09<br>URL\uff1a\u3000\u3000\u3000http:\/\/www.msd.mech.e.titech.ac.jp\/<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u203b\u672c\u30da\u30fc\u30b8\u3067\u306f\uff0c\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA2019\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u5f0f\u69cb\u9020\u53ef\u5909\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u7528\u6280\u8853\u958b\u767a\u300d\u306e\u6982\u8981\u5e83\u5831\u8cc7\u6599\u3092\u63b2\u8f09\u3057\u3066\u3044\u307e\u3059\uff0e \uff11\u3000\u7814\u7a76\u306e\u6982\u8981 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Center Mechanism\uff08RCM\uff0c\u30d3\u30c7\u30aa1\uff09\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3064\u304e\u306b\u3053\u308c\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\uff0cDouble arm type\u81ea\u8d70\u6a5f\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u30e2\u30c7\u30eb\u306b\u57fa\u3065\u304d\uff0c6\u3064\u306e\u80fd\u52d5\u95a2\u7bc0\u306e\u89d2\u5909\u4f4d\u3068\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306b\u3042\u305f\u308b\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u95a2\u4fc2\u306e\u5b9a\u5f0f\u5316\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u7d50\u679c\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u9032\u884c\u3059\u308b\u526f\u7d22\u306e\u65b9\u5411\u3092\u4e0e\u3048\u308c\u3070\uff0c\u305d\u306e\u65b9\u5411\u306b\u8d70\u884c\u3059\u308b\u305f\u3081\u306e\u5404\u95a2\u7bc0\u306e\u52d5\u4f5c\u30d1\u30bf\u30fc\u30f3\u3092\u6c42\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u308c\u3092\u3082\u3068\u306b\uff0c\u52d5\u4f5c\u8a08\u753b\u624b\u6cd5\u306e\u958b\u767a\u3068\u6a5f\u69cb\u306e\u6700\u9069\u5316\u624b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e\u3000\u3053\u3053\u3067\u306f\u30b1\u30fc\u30d6\u30eb\u306e\u5206\u5c90\u70b9\u3092\u30e2\u30c7\u30eb\u5316\u3057\uff0c\u307e\u305fDouble arm type\u81ea\u8d70\u6a5f\u304c\u524d\u5f8c\u306b\u6709\u3059\u308b3R\u30b7\u30ea\u30a2\u30eb\u7403\u9762\u6a5f\u69cb\u306e\u904b\u52d5\u5b66\u95a2\u4fc2\u3092\u6c42\u3081\u305f\uff0e\u7279\u306b\u3053\u306e\u6a5f\u69cb\u306f\u30b1\u30fc\u30d6\u30eb\u8ef8\u5468\u308a\u306e\u30e2\u30fc\u30e1\u30f3\u30c8\u3092\u767a\u751f\u3067\u304d\u306a\u3044\u305f\u3081\uff0c\u30b1\u30fc\u30d6\u30eb\u30e2\u30c7\u30eb\u306b\u5bfe\u3059\u308b\u524d\u5f8c\u306e\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u3092\u4e0e\u3048\u3066\u3082\u3053\u306e\u59ff\u52e2\u304c\u5b9f\u73fe\u3067\u304d\u308b\u3068\u306f\u9650\u3089\u305a\uff0c\u4e0e\u3048\u3089\u308c\u305f\u4e8c\u3064\u306e\u99c6\u52d5\u90e8\u306e\u59ff\u52e2\u3092\u5b9f\u73fe\u3059\u308b\u969b\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u30b1\u30fc\u30d6\u30eb\u306b\u5bfe\u3057\u3068\u308a\u3046\u308b\u59ff\u52e2\u306e\u7b97\u51fa\u306b\uff0c\u9759\u529b\u5b66\u7684\u306a\u3064\u308a\u5408\u3044\u3092\u8003\u616e\u3057\u305f\u904b\u52d5\u5b66\u7684\u9006\u554f\u984c\uff08Kineto-static inverse 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\uff16\u3000\u672c\u7814\u7a76\u306b\u304b\u304b\u308f\u308b\u77e5\u8ca1\u30fb\u767a\u8868\u8ad6\u6587\u7b49 \u3010\u8ad6\u6587\u30fb\u56fd\u969b\u4f1a\u8b70\uff08\u67fb\u8aad\u4ed8\uff09\u3011 1.&nbsp; \u52a0\u7d0d\u5f18\u55e3\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u9060\u85e4\u592e\uff0c\u77f3\u4e95\u88d5\u4e4b\uff0c\u6b66\u7530\u884c\u751f\uff0c\u7a7a\u9593\u306b\u69cb\u9020\u7684\u306b\u67b6\u8a2d\u3055\u308c\u305f\u7db2\u72b6\u306e\u7d22\u9053\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u7814\u7a76\uff08\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u578b\u306e\u904b\u52d5\u5b66\uff0c\u52d5\u4f5c\u8a08\u753b\u3068\u6a5f\u69cb\u306e\u6700\u9069\u5316\u306b\u3064\u3044\u3066\uff09\uff0c\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u8a8c\uff0c\u5dfb\u53f7\u672a\u5b9a\uff0c\u30da\u30fc\u30b8\u672a\u5b9a\uff0c2021\uff0e\uff08\u63a1\u9332\u6c7a\u5b9a\u6e08\uff0c\u5370\u5237\u4e2d\uff09 2.&nbsp; Andres Osorio Salazar, Yusuke Sugahara, Daisuke Matsuura, Yukio 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