Kinematic and dynamic modeling of robot manipulator for golf swing training system

A golf swing training system has been designed to allow users to improve their skill through careful guidance along an ideal golf swing trajectory. The training system is designed as a 6-DOF robot manipulator which controls the position and orientation of the golf club grip point. The manipulator´s position and velocity kinematics are described using the DH coordinate frame method, from which a closed-form inverse kinematic solution is derived. The dynamics of the robot manipulator are described using the Euler-Lagrange equations of motion. The results of the inverse kinematic solution are used to drive the six joint motors using motion analysis simulation with a model of the golf swing training system, verifying the solution can obtain the desired golf swing trajectory.