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

fYear

2008

fDate

Sept. 30 2008-Oct. 3 2008

Firstpage

598

Lastpage

603

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08

Conference_Location

Morelos

Print_ISBN

978-0-7695-3320-9

Type

conf

DOI

10.1109/CERMA.2008.98

Filename

4641138