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Development of simulation model for modular and reconfigurable robots

This paper proposed the simulation environment and model for modular and reconfigurable manipulator to develop and verify a control algorithm for a user-designed robot. In the proposed simulation environment, a user can select needed modules and compose module blocks into the desired modular manipulator. After constructing robots, codes for kinematics and controller are automatically generated and simulation can be easily conducted for the constructed robot based on generated codes.