Development of a Kinematics calculation simulator based on the Decentralized Kinematics calculation Framework

This study aims the development of the Kinematics calculation simulator based on the decentralized kinematics calculation framework developed our researchers group. The framework are the modularize of the forward/inverse kinematics calculations about every joints for forming robots, and configuring modularized calculations according to structures of robots. This report describes outline of the framework, kinematics calculation library based on the framework, and the kinematics calculation simulator by using the library. Finally, an object handling simulations are indicated for confirmation of effectiveness of the proposed method.