UPE: Utah Prototyping
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The design basis for building a prototyping environment for robot manipulators was investigated and the design options were explained. An initial implementation of a central interface and some of the subsystem interfaces was done to demonstrate the functionality of the proposed environment. The design constraints and the update rules are expressed using simple syntax and are saved as part of the environment database. A graphical user interface to control and monitor the activities of the environment was implemented. A three-link robot manipulator was built to explore the basis of building this environment. This prototype robot will be used as an educational tool in control and robotics classes. We believe this framework will facilitate and speed the design process of robot manipulators.