Naoyuki Hara

Learn More
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)
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)
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)
Title Author(s) eIIhIIehIIh Citation CCiIIR Issue Date URL LLLLRU Rights s Abstract The present paper considers singular value decomposition (SVD) for a class of linear time-varying systems. The class considered herein describes time-driven switched linear systems. Based on an appropriate input-output description , the calculation method of singular values(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)
The present study shows that diffusive connections with two long-time delays can induce the stabilization of a steady state in network oscillators. A linear stability analysis shows that, if the two delay times retain a proportional relation with a certain bias, the stabilization can be achieved independent of the delay times. Furthermore, a simple(More)
We propose a method for motion control of a redundant manipulator on a flexible base. Manipula-tor 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, al-gorithmic singularities associated with the additional(More)