Makoto Wakasa
Papers
1
Total Citations
2
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1
About
Makoto Wakasa is a robotics researcher whose work focuses on the kinematics and control of serial manipulators, particularly addressing the long-standing challenge of singularities. His most cited paper, "Algorithm for Serial Robots Passing Through the Singular Point Spanning a Lie Algebra" (2007), tackles a critical problem in robotics: when a robot's end effector nears a singular point, certain joints must rotate drastically in a short time, often exceeding actuator velocity limits and forcing an emergency stop. Wakasa’s contribution lies in developing an algorithm that allows robots to pass through or near singular points without halting, by leveraging Lie algebra to compute feasible joint trajectories. Though his citation count is modest (2 citations), this work is significant for its theoretical depth and practical implications in industrial robotics, where smooth, uninterrupted motion is essential. Wakasa’s research bridges advanced mathematics and real-world robot control, offering solutions that enhance the reliability and efficiency of automated systems. His work is particularly valuable for students and engineers seeking to understand and overcome the kinematic limitations of serial robots.
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Top Papers
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