K Hatanaka

Publications (3)1.36 Total impact

• Conference Proceeding: Optimization of damping control parameters for cycle time reduction in clutch assembly

  N. Yamanobe, H. Fujii, Y. Maeda, T. Arai, A. Watanabe, T. Kato, T. Sato, K. Hatanaka
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  ABSTRACT: Parameter tuning of force control is important for successful robotic assembly and ensuring high efficiency operations. In this paper, we present a method of designing damping control parameters for general assembly operations by considering the cycle time. In this method, optimal parameters are obtained through iterative simulations of assembly operations because it is difficult to estimate the cycle time analytically. We have applied the method to clutch assembly, which is a complicated insertion of a splined axis into movable toothed plates, and demonstrate how the operation can be sped up using the obtained parameters.
  Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on; 09/2005
• Article: Density functional theory study of the origin of IR and Raman band shifts in H‐bond complexes of triethylamine with water

  N. U. Zhanpeisov, K. Ohta, S. Kajimoto, J. Hobley, K. Hatanaka, H. Fukumura
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  ABSTRACT: The present article discusses the results of density functional calculations obtained using B3LYP functional and the standard 6-31G* basis sets for mono-, di-, and triethylamines (MEA, DEA, and TEA, respectively) and their H-bonded complexes with water molecules. In particular, the origin of the observed experimentally clear red shift for methylene νCH mode due to the nanosecond laser T-jump in TEA/H2O system is validated theoretically by explicit consideration of related infrared (IR) and Raman peaks appeared at the CH absorbance region. All theoretical calculations were performed with full geometry optimizations without imposing any constraints, and followed by direct harmonic frequency calculations. The effects of nonspecific and specific solvations were accounted for using simple Onsager model and explicit water molecules. It was shown that the former continuum model does not strongly perturb the observed spectral changes in the CH region because of shallow potential energy surface for the interacting subsystems. Both the structural changes in geometry and electron redistribution as a result of H-bonding were found to be main factors to explain the observed experimental spectral changes in IR and Raman spectra. © 2005 Wiley Periodicals, Inc. Int J Quantum Chem, 2005
  International Journal of Quantum Chemistry 07/2005; 105(4):376 - 386. · 1.36 Impact Factor
• Conference Proceeding: Design of damping control parameters for peg-in-hole by industrial manipulator considering cycle time

  N. Yamanobe, Y. Maeda, T. Arai, T. Kato, T. Sato, K. Hatanaka
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  ABSTRACT: Designing appropriate force control parameters is necessary in robotic assembly for successful operations. Moreover, obtaining control parameters that can shorten the cycle time to perform operations is very important in industrial applications. In this paper, we present a method to design damping control parameters that can shorten the cycle time and show the effectiveness of the parameters obtained through the method. In the method, sub-optimal parameters are obtained through repetitive simulations of assembly operations in order to estimate the cycle time because it is difficult to calculate the cycle time analytically. We apply the method to peg-in-hole operations and show experimental results using the control parameters obtained through the method.
  Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on;