Journal ArticleIn this paper we will present the stages of designing and building a three-link robot manipulator prototype that was built as part of a research project for establishing a prototyping environment for robot manipulators. Building this robot enabled us determine the required subsystems and interfaces to build the prototyping environment, and provided hands-on experience for the real problems and difficulties that we would like to address and solve using this environment. Also, this robot will be used as an educational tool in robotics and control classes
