Controlling and simulating a robot is a process that involves a large number of mathematical equations. To be able to deal with the required computation, it is better to divide into modules, where each module accomplishes a certain task. The most important modules, as described in [2] are: kinematics, inverse kinematics, dynamics, trajectory generation, and feedback control.
The behavior of the robot is affected by the choice of the robot parameters such as, degrees of freedom, joint allocation, link lengths, link masses, joint friction, feedback gains, and motor parameters. An optimal design system to select the optimal values for those parameters according to some performance requirements will be designed as part of the prototyping environment, more details of which can be found in [8].
