A general approach for modeling robots

Modeling manipulators has been an important part in robotic simulations. There are various types of robot systems used in today´s robotic research and application, e.g., the six axis industrial robots, humanoid redundant manipulators and 4 finger grippers. Therefore, the model´s structure can be very complex, requiring techniques for both modeling and simulating the system. “Traditional” simulation packages handle each robot respectively. This paper presents a formal model for arbitrary manipulators or grippers and implement the theoretical ideas into a real modeling and simulation tool