Naoyuki Hara

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We propose an integrated motion controller for the Japanese Experimental Module RMS/SFA “macro-mini” manipulator system on the International Space Station. This controller is based on the Reaction Null-Space concept described in previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1].(More)
It is shown that the Reaction Null Space formulation - a method developed for motion analysis and reactionless motion generation of free-floating and flexible-base robots - can be used to fully decouple the end-link dynamics of a kinematically redundant fixed-base robot. Decoupling is achieved thereby via the pseudoinverse of a coupling-inertia submatrix,(More)
We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional(More)
A new path tracking control method for the Japanese Experiment Module Remote Manipulator System (JEMRMS) / Small Fine Arm (SFA) “macro-mini” manipulator system on the International Space Station is proposed. The method ensures almost reactionless motion within wide areas of workspace. This feature is achieved via continuous inertial damping of the(More)
A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is(More)
We propose herein globally pulse-coupled electronic-circuit oscillators with a refractory period and frequency distribution. The synchronization of such oscillators, which was analyzed by Konishi and Kokame [Chaos 18, 033132 (2008)], is verified by circuit experiments. Furthermore, we investigate a cluster state in the oscillators and analytically derive a(More)
This paper investigates the robust stability of a steady state in network systems with dynamic connections. A linear stability analysis reveals that the odd number property holds for any network topology. It is shown that the stability of the steady state in network systems with topological uncertainty is governed by the interval family of real(More)
High-speed path tracking with a kinematically redundant manipulator mounted on a flexible base is addressed. Thereby, possible vibrations of the base are to be suppressed. In general, the presence of kinematic redundancy allows these two subtasks to be performed simultaneously. In practice, however, this can be done only within very limited areas of(More)