Journal ArticleDeveloping an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper, We propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment
