Title :
Motion pattern generation for multi-link system based on distributed kinematics and dynamics
Author :
Nagano, Tomoaki ; Kondo, Toshiyuki ; Ito, Koji
Author_Institution :
Dept. of Computational Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan
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, which means that the multi-link system is a sort of autonomous distributed systems. In the present paper, both the inverse kinematics and dynamics of multi-link system are described by a distributed representation. Then we propose a distributed algorithm to generate some reaching motions.
Keywords :
distributed algorithms; motion control; robot dynamics; robot kinematics; autonomous distributed system; distributed algorithm; distributed kinematics; link dynamics; motion pattern generation; multilink system;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
