XML based robot description language

摘要

This paper discusses XML based Robot Description Language which can describe structures and ability of any robot using common documents. XML is the most promising language for storing and delivering information. So structures and abilities is described using XML. A robot’s structure and ability is stored using XML and grouping. The robot’s structure is consisted of joints, motors, frames. Joints are a ball joint, a hinge and a slider joint. And a developer can create user definition frame. RDL can not only be use to show specifies of any robots but also linked robot simulator. Then the robot simulator can check robot stability.