It was discovered on 19 September 1993, by Japanese amateur astronomers Kin Endate and Kazuro Watanabe at Kitami Observatory in eastern Hokkaidō, Japan.
It orbits the Sun in the outer main-belt at a distance of 2.5–3.6 AU once every 5 years and 5 months (1,984 days).
[6] According to the survey carried out by NASA's Wide-field Infrared Survey Explorer with its subsequent NEOWISE mission, Kagayayutaka measures 22.28 kilometers in diameter and its surface has a high albedo of 0.708,[4] while the Collaborative Asteroid Lightcurve Link assumes a standard albedo for carbonaceous asteroids of 0.057 and calculates a diameter of 23.21 kilometers with an absolute magnitude of 11.9.
[3] A rotational lightcurve of Kagayayutaka was obtained from photometric observations by French astronomer René Roy in November 2015.
Lightcurve analysis gave a rotation period of 3.96 hours with a brightness variation of 0.28 magnitude (U=3-).