Present paper describes one part of the kinematical researches made in modular robotic field. The aim of these researches is to generalize the homogenous formalism. This generalization is need in the modular robotic field because of the multiple possible configurations. The modularity is view like a customer, and not producer, possibility to build robots for particular needs. This is the reason that in order to implement the mentioned modularity concept we need tool which allow to a task specialist (the customer) to design robots.
