{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:16:57Z","timestamp":1760242617578,"version":"build-2065373602"},"reference-count":17,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2017,12,18]],"date-time":"2017-12-18T00:00:00Z","timestamp":1513555200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot\u2019s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.<\/jats:p>","DOI":"10.3390\/robotics6040041","type":"journal-article","created":{"date-parts":[[2017,12,19]],"date-time":"2017-12-19T03:54:32Z","timestamp":1513655672000},"page":"41","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Teaching Joint-Level Robot Programming with a New Robotics Software Tool"],"prefix":"10.3390","volume":"6","author":[{"given":"Fernando","family":"Gonzalez","sequence":"first","affiliation":[{"name":"Department of Software Engineering, Florida Gulf Coast University, Fort Myers, FL 33965, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Janusz","family":"Zalewski","sequence":"additional","affiliation":[{"name":"Department of Software Engineering, Florida Gulf Coast University, Fort Myers, FL 33965, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,12,18]]},"reference":[{"key":"ref_1","unstructured":"Niku, S. (2011). Introduction to Robotics: Analysis, Control, Applications, Wiley. [2nd ed.]."},{"key":"ref_2","unstructured":"Gonzalez, F., Zalewski, J., and Pinzon, G. (2015, January 14\u201317). An Educational Tool to Support Introductory Robotics Courses. Proceedings of the 122nd ASEE Annual Conference, Seattle, WA, USA. Paper No. 13128."},{"key":"ref_3","first-page":"61","article-title":"A New Robotics Educational System for Teaching Advanced Engineering Concepts to K-12 students","volume":"26","author":"Gonzalez","year":"2016","journal-title":"Comput. Educ. J."},{"key":"ref_4","first-page":"60","article-title":"An Educational Tool to Support Learning Robot Vision","volume":"1","author":"Gonzalez","year":"2016","journal-title":"Trans. Tech. STEM Educ."},{"key":"ref_5","unstructured":"(2016, February 11). GAZEBO Robot Simulation Software. Available online: http:\/\/www.gazebosim.org."},{"key":"ref_6","unstructured":"(2016, October 23). Robologix Logic Design Inc. 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Proceedings of the 2016 Global Engineering Education Conference (EDUCON), Abu Dhabi, United Arab Emirates.","DOI":"10.1109\/EDUCON.2016.7474585"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Gonzalez, R., Mahulea, C., and Kloetzer, M. (2015, January 24\u201328). A MATLAB-based Interactive Simulator for Mobile Robotics. Proceedings of the 2015 IEEE International Conference on Automation Science and Engineering (SACE), Gothenburg, Sweden.","DOI":"10.1109\/CoASE.2015.7294097"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Manseur, R. (, January 10\u201313). Software\u2014Aided Robotics Education and Design. Proceedings of the 2016 Global Engineering Education Conference (EDUCON), Abu Dhabi, United Arab Emirates.","DOI":"10.1109\/EDUCON.2016.7474679"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1109\/13.912707","article-title":"ROBOT-DRAW, an Internet-Based Visualization Tool for Robotics Education","volume":"44","author":"Robinette","year":"2001","journal-title":"IEEE Trans. Educ."},{"key":"ref_15","first-page":"750","article-title":"Simulation Tool for Teaching and Learning 3D Kinematics Workspaces of Serial Robotic Arms with up to 5-DOF","volume":"20","year":"2010","journal-title":"Comput. Appl. Eng. Educ."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1002\/cae.20104","article-title":"An Educational Tool for 6-DOF Industrial Robots with Quaternion Algebra","volume":"15","author":"Cakir","year":"2007","journal-title":"Comput. Appl. Eng. Educ."},{"key":"ref_17","unstructured":"(2015). ABET Engineering Accreditation Commission, Criteria for Accrediting Engineering Programs, ABET. 2016\u20132017 Accreditation Cycle."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/6\/4\/41\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:54:24Z","timestamp":1760208864000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/6\/4\/41"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,18]]},"references-count":17,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2017,12]]}},"alternative-id":["robotics6040041"],"URL":"https:\/\/doi.org\/10.3390\/robotics6040041","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2017,12,18]]}}}