Contribution

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.