Koji Fujinaga
Papers
2
Total Citations
10
H-Index
2
About
Koji Fujinaga is a robotics researcher whose work focuses on the control of industrial robot arms, specifically addressing the critical challenge of vibration suppression in flexible drive systems. His primary research areas include joint torque sensing, resonance control, and state-estimation observer design for robotic manipulators. Fujinaga’s major contributions center on modeling and controlling the two-inertia resonance phenomenon that occurs in robots driven through reduction gears like Harmonic Drives and RV gears. His foundational 2004 paper, "Control Using Joint Torque Sensor of Robot Arm with Two-Inertia Resonance," demonstrated how direct torque sensing can effectively dampen vibratory behavior during operation. He further advanced this work in his 2006 study, comparing torque sensor-based control with state-estimation observer methods, providing crucial insights into practical implementation trade-offs. While his citation counts (6 and 4 respectively) reflect a specialized audience, his research addresses a fundamental problem in industrial robotics: the flexibility inherent in gear-driven systems. His work has practical implications for improving precision and stability in manufacturing robots, contributing to the broader field of motion control. Fujinaga’s research remains relevant for engineers developing high-performance robotic systems where mechanical resonance limits performance.
Research Focus
Key Achievements
Top Papers
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- 2