Model and Implementation of Master-Slave Basic Goniometric System for Real Time Control of a Mini Humanoid Robot

This paper will present the development of a basic goniometric system for control of movements in realtime of a mini humanoid robot. The mini humanoidis Hitec’s Robonova-1 with a total of 16 degrees offreedom. The first prototype only included the degrees in relation with the arm, elbow joint and one shoulder joint. The project is presented in six steps: General description of Robonova; kinematic model of ok human and android arm; mechanical structure; electronic configuration and software interface.