URK: Utah RobotPrevious: Building the Robot
A prototype 3-link robot manipulator was built to determine the required components for a flexible prototyping environment for electro-mechanical systems in general, and for robot manipulators in particular. A local linear PD feedback law was used for controlling the robot for positioning and trajectory tracking. A graphical user interface was implemented for controlling and simulating the robot. This robot is intended to be an educational tool, therefore it was designed in such a way that makes it very easy to install and manipulate. The design process of this robot helped us determine the necessary components for building a prototyping environment for electro-mechanical systems.