Polycentric Framework for Robotic Kinematics

  • Akihiro Hayashi
  • Toshifumi Satake
  • Shinya Haramaki
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


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.


robotics system kinematics polycentric 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Akihiro Hayashi
    • 1
  • Toshifumi Satake
    • 2
  • Shinya Haramaki
    • 3
  1. 1.Mechanical Information Sceience and TechnologyKyushu Institute of TechnologyFukuokaJapan
  2. 2.Information Systems EngineeringAsahikawa National College of TechnologyHokkaidoJapan
  3. 3.Mechanical EngineeringAriake National College of TechnologyFukuokaJapan

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