The Sankin Kotai was a system created by Tokugawa Iemitsu in order to ensure that the daimyo under his rule would have a degree of cohesion. It was also a major pain in the neck for those daimyos, who had to plan for a major pilgrimage to Edo every other year! Moving that kind of distance every few months in the 17th century wasn't easy!
One day, the third Shogun, Tokugawa 
Iemitsu thought to himself...
Un día, el tercer shogun,
Tokugawa Iemitsu, pensó…
Certo dia, o terceiro xogum,
Tokugawa Iemitsu, pensou...