Control of a new golf swing robot with considering hitting a ball

Author

Ming, Aiguo ; Teshima, Teppei ; Takayama, Takuya ; Kajitani, Makoto

Author_Institution

Dept. of Mech. Eng. & Intelligent Syst., Univ. of Electro-Communications, Tokyo, Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

365

Abstract

The motion control skill in human hyper dynamic actions, especially in ultra high speed actions, is being investigated by authors, toward a realization of hyper dynamic manipulation by robot. As a case study, a new golf swing robot to simulate human skill of motion control, that is, multistep acceleration by dynamic coupling drive, has been proposed by us. For simplicity, a prototype consisting of one actuated joint by a direct drive motor and one passive joint with a mechanical stopper has been developed. The purpose of this research is to realize smooth control of the robot while hitting a ball. The basic method and experimental results for controlling the motion of the robot in the case of hitting a ball are described in this paper

Keywords

drives; games of skill; manipulators; actuated joint; direct drive motor; dynamic coupling drive; golf swing robot; hyper dynamic actions; hyper dynamic manipulation; mechanical stopper; motion control; multistep acceleration; passive joint; Acceleration; Couplings; Equations; Humans; Intelligent robots; Manipulator dynamics; Motion control; Prototypes; Robot control; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2001 IEEE International Conference on

Conference_Location

Tucson, AZ

ISSN

1062-922X

Print_ISBN

0-7803-7087-2

Type

conf

DOI

10.1109/ICSMC.2001.969839

Filename

969839