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Anthropomorphic robots are robots with 6 (usually) revolute joints and are usually refered to as robotic arms. They're one of the most common types of robots. Yes, they are usually shaped kind of like a human arm.
I'm no expert, but there is a function called 'SPD' or 'Speed Detection' than can be used to detect the rate of input pulses. How are you controlling the motor speed on the output side of the PLC?