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Robot Movement System Design based on the Recorded Movement of a Cloning Robot

Abstract— Automation has been applied in many sectors of human life including systems involving robots. This paper has been based on the need to improve the movement system in a dancing robot. The beauty of a robot dance is measured by flexibility, liveliness, and synchronization of the robot dance with its accompanying music rhythm. Robot flexibility, in order not to move stiffly, is influenced by the movement angle of the joints. The design of a movement system has been based on the recorded movement of a master robot, being called as the cloning robot. It is purposed to get a fast and easy-to-read response to help a programmer to obtain the dance movement algorithms faster by using easy-to-obtain (cheap and commonplace) sensors and motors. The experiment results indicate that the movement system of the competition robot has been successcully built based on the recorded movement of the cloning robot. The good performance of the sensor has been shown with only 0.02V of average error during the test on 10 sensors used, with the lowest error of 0V and the largest error of 0.07V. The most effective angle measurement of the sensor has been achieved in the range of 30° - 280° out of the available 0° - 305° range of angles. The analog-to-digital conversion process indicates the conversion linearity, with an error of 0.18 bits (0 bits) within the range of 0 – 1023 bits. The results of testing on the angles of the servo system indicate the biggest error of 5° and the smallest error of 1°. The overall test results show the biggest error difference of 23.33° and the smallest one of 0.30°. 
Index Terms— cloning robot, dancing robot, master robot, movement angle, movement system, robot joint angle