A New Approach of Robot Manipulator Modeling

A New Approach of Robot Manipulator Modeling

  In this paper, we propose a new design platform for robot manipulator modeling. Previous approaches have been based on CAD models or Robot library provided by the manufacturers, whereas the proposed design platform provides two approaches of modeling that can be used by ordinary robotics researchers. The first approach is to make a robot model composed of the modules created by modifying modules in the module library. Second approach is to make a robot model using our module designer with a given set of D-H parameters. The D-H parameters are derived from the kinematic design for a specified task. In this paper, we introduce the new method with the second approach.