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Polycentric Framework for Robotic Kinematics

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 194))

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Abstract

This paper proposes an generic framework of kinematics process for improving the operability of robotic systems. In the framework, metaphysical subsystems and connection rules are defined, and kinematics process is composed of a set of subsystems assembled by their connection rules in which input/output relation of subsystems are associated with each other. Kinematics of generic robotic systems is solved by cooperating the localized calculation embedded in subsystems. The framework is applied to case studies of the forward and the inverse kinematics problems of seven d.o.f. robot manipulator.

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References

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Author information

Authors and Affiliations

  1. Mechanical Information Sceience and Technology, Kyushu Institute of Technology, 680-4 Kawazu Iizuka, Fukuoka, 820-8502, Japan

    Akihiro Hayashi

  2. Information Systems Engineering, Asahikawa National College of Technology, 2-2 Shunkoudai Asahikawa, Hokkaido, 071-8142, Japan

    Toshifumi Satake

  3. Mechanical Engineering, Ariake National College of Technology, 150 Higashi-hagio Ohmuta, Fukuoka, 836-8585, Japan

    Shinya Haramaki

Authors
  1. Akihiro Hayashi
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  2. Toshifumi Satake
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  3. Shinya Haramaki
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Corresponding author

Correspondence to Akihiro Hayashi .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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© 2013 Springer-Verlag Berlin Heidelberg

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Hayashi, A., Satake, T., Haramaki, S. (2013). Polycentric Framework for Robotic Kinematics. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_83

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  • DOI: https://doi.org/10.1007/978-3-642-33932-5_83

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

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