Motion Pattern Generation for Multi-link System based on Distributed Kinematics and Dynamics

Tomoaki Nagano; Toshiyuki Kondo; Koji Ito

doi:10.11499/sicep.2004.0_111_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_111_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Motion Pattern Generation for Multi-link System based on Distributed Kinematics and Dynamics

*Tomoaki Nagano, Toshiyuki Kondo, Koji Ito

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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 111

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Abstract

The dynamics of multi-link system can be represented and computed by the link dynamics and the mutual interaction among the links. Then, the static and dynamic characteristics of each link can be represented by only the information from itself and the adjacent link. In the present paper, both the inverse kinematics and dynamics of multi-link system are described by a distributed representation

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