Design and automatic modeling of reconfigurable software for modular robot

A kind of joint modular robot is introduced in the paper. The robotic modules, the expression method of software configuration, modeling and design of reconfigurable software have been described in detail. 3D model and kinematics of the robot are realized by using OpenGL techniques. The software can generate software model automatically based on a method of dynamic index of file system by user's configuration. Finally, its correctness is verified by experiments of kinematics simulation