Tham khảo tài liệu 'humanoid robots part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 243 The Design of humanoid Robot Arm based on Morphological and Neurological Analysis of Human Arm Fig. 16. Circle control error output motion 5 times repetition error Table 2 represent the motion error measurement data of the humanoid robot arm. Through the 5 controls we found that mean position trace error is about and mean position repetition error is about in the Table 2. Times Sampling time ms Sum of error mm Mean error mm 1 50 Point 5s 100ms 204mm 204 50 2 50 Point 5s 100ms 209mm 209 50 3 50 Point 5s 100ms 199mm 199 50 4 50 Point 5s 100ms 205mm 205 50 5 50 Point 5s 100ms 211mm 211 50 Total Mean trace error Mean poison repetition error 4 Table 2. The motion error measurement data of the humanoid robot arms 6. Conclusion 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 and mean position repetition error of as a control performance. 244 Humanoid Robots 7. References Karl Williams Build Your Own humanoid Robots Tab Bookks 2004. Christopher E. Strangio The RS232 Standard - A Tutorial with Signal Names and Definitions 1993 2006. Universal Serial Bus Specification Compaq Intel Microsof NEC 998. Robot Bosch Gmbh CAN Specification Bosch 1991. John F. Shoch An Introduction to the Ethernet Specification ACM SIGCOMM Computer Communication Review volume 11 pp 17-19 New
