  This paper presents a methodology that forms an automated tool for robot
kinematic representation conversion, called the RobKin Interpreter. It is a set
of analytical algorithms that apply basic linear algebra tools that can analyze
an input serial robot representation, express the joints globally in matrix
form, and map to other representations such as standard Denavit-Hartenberg
parameters, Roll-Pitch-Yaw angles with translational displacement, and Product
of Exponentials with a possibility to generate a URDF (Universal Robot
Description Format) file from any of them. It works for revolute and prismatic
joints and can interpret even arbitrary kinematic structures that do not have
orthogonally placed joints and often appear in flexible robotic systems. The
aim of the proposed methods is to facilitate the necessary switches between
representations due to software compatibility, calculation simplification, or
cooperation.
