this paper study the skinning of the manipulator robot arm (JACO) and how to implement this into arm skeleton with easy way and see the effect of the distributed specified weight and how to control it to get the best motion results.

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This mini-script displayed the improvement into the skinning automatic method for the JACO robotic arm, this made by studying how to add a specific weight according to the vertex mesh numbers and trying to define a relationship between this based on the axis of the rotation specially in the corners as a case study

This manuscript deals with two specific issues for simulation a sound recognition system which has ability for controlling the movement of the manipulator robot arm (JACO). The robotic arm should be modulated then implemented using simulation program (MORSE), the simulated arm must have the same real design with all the details which involved the joints, links length, rotational joints angels. The sound system will build using robot operating system (ROS) then connect the system to the simulated arm for creating one block system that can control the arm with the specific words.