Yoichi Handa

Learn 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)
At present the majority of autonomous robots are mostly used in factories where speed and accuracy are given highest priority. In our research, we are focusing in the area where the robot that cooperate with human to lift or carry a human subject. In this area the robots are required to interact with human and move in such a fashion where it will move with(More)
We aim at experimental verification of the efficiency of natural-motion path tracking (i.e. tracking speed in proportion to the determinant of the Jacobian) in comparison to constant-speed path tracking. This is done first via simulations, with a simple planar manipulator and then with a six-DOF manipulator. From the results it becomes apparent that(More)
This article focuses on the relation between workspace path geometry and the timing along the path, obtained via simple timing generators yielding constant end-link speed motion, natural motion, and two types of globally optimized joint velocitymotions. The generators are designedwithin the Singularity-Consistent framework developed originally to tackle(More)
  • 1