Title :
Model and Implementation of Master-Slave Basic Goniometric System for Real Time Control of a Mini Humanoid Robot
Author :
Arias, J.S.C. ; Guzman, L.E.S. ; Arteche, Martin Mellado
Author_Institution :
Univ. Mil. Nueva Granada, Bogota
fDate :
Sept. 30 2008-Oct. 3 2008
Abstract :
This paper presents the development of a basic goniometric system for control of movements in realtime of a mini humanoid robot. The mini humanoid is Hitecpsilas Robonova-1 with a total of 16 degrees of freedom. 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.
Keywords :
control engineering computing; goniometers; humanoid robots; manipulator kinematics; motion control; telerobotics; Hitecpsilas Robonova-1; android arm; degrees of freedom; electronic configuration; kinematic model; master-slave basic goniometric system; mechanical structure; mini humanoid robot; movement control; real time control; software interface; Control systems; Elbow; Humanoid robots; Humans; Kinematics; Master-slave; Prototypes; Real time systems; Shoulder; Software prototyping; Goniometer; humanoid; master-slave;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08
Conference_Location :
Morelos
Print_ISBN :
978-0-7695-3320-9
DOI :
10.1109/CERMA.2008.98
