The Design of Humanoid Robot Arm Based on Morphological and Neurological Analysis of Human Arm

Sunchon Nat. Univ., Sunchon
In book: Humanoid Robots
Source: InTech


In this paper, we have presented the implementation and performance evaluation for SERCOS based humanoid robot arm by using morphological and neurological analysis of human arm. Moreover, we reviewed the possibility of application of these robot arms. First, we proposed robot development methodology of open architecture based on ISO15745 for "opening of humanoid robot." Then, we verified the method of implementation of humanoid robot arm and its application to the real world. We have implemented robot arm using SERCOS communication and AC servo motor for high precision motion control; in addition, we got a mean position trace error of 4.112mm and mean position repetition error of 0.135mm as a control performance.

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