This project contains a C++ API that lets you build a manipulator robot as a kinematic chain of links. The API lets the developer to:

• Create link types with geometry description from 3DS files
• Describe manipulator robots as a chain of links where each link is connected to a link type
• Describe robot trajectories as a series of initial-to-end joint positions in time for each joint
• Given the trajectory above generate a polynomial trajectory to move the joints

A sample application (see picture below) was built to illustrate its usage and it can be found in application folder in the repository.