Motion pattern generation for multi-link system based on distributed kinematics and dynamics

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.