Re-usable kinematic models and algorithms for manipulators and vehicles

A generalized kinematic modeling framework, called mechanism_model, has been developed for use in the CLARAty robotic reusable software. Mechanism_Model supports a wide range of systems - from manipulator arms to legged and wheeled rovers. It also enables the development of generalized kinematics, dynamics and collision detection algorithms. In this paper, we describe the unified modeling approach used in mechanism_model and provide details of its object-oriented implementation in C++. We also present an example application illustrating use of mechanism_model.