Prototyping a three-link robot manipulator

Abstract

In this paper we present the stages of designing 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 helped determine the required subsystems and interfaces for building the prototyping environment, and provided hands-on experience for real problems and difficulties that are addressed and solved using this environment. Also, this robot is used as an educational tool in robotics and control classes.