Simulation environment for the devolopment of serial manipulator robots and their control (PYMANI)

This paper details the development of a virtual simulation tool for serial manipulators in the Python language (PyMani). PyMani uses a modular design to increase the ease of learning and future development. It was used to test a design for an upper-limb assistive exoskeleton robot with seven degrees of freedom (DoF). Future work will focus on creating additional features, the code is open source and available at sourceforge