Development of the software to build kinematics for module based robot automatically

摘要

Module based robot has long history. There are many module based robot in the market. Some companies sell those to be used in industrial application. However software technology is not doing catch up hardware performance. Company provide software tool-set, and user can build their own control system. Customers meet the limitation when they want to build kinematics library to control their robots in Cartesian space. It is clear that expertise in robotics is required to develop kinematics. In this article the novel software architecture to make kinematic library for module based robot automatically is introduced.