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The following points summarize the main contributions of this thesis:
- We are proposing an integrated environment rather than developing
separate systems and modules.
- This environment is flexible enough to accommodate changes or
additions to the subsystems.
- An interactive user friendly interface is provided to improve and
facilitate the usability of this environment.
- A three-link robot prototype that can be easily connected to
any workstation or PC was built, and a controller for this robot was
developed with an interface that enables the study of the
manipulator's behavior for different design parameters and
configurations.
- The manipulator was designed in such a way that enables
the change of any of its sensors or actuators with minimal effort.
Matanya Elchanani
Wed Dec 18 17:00:21 EST 1996