Title :
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
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;
Conference_Titel :
Systems, Man, and Cybernetics, 2001 IEEE International Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-7087-2
DOI :
10.1109/ICSMC.2001.969839
