Design of optimal pathway for throwing motion control via Bezier curve

This paper describes the throwing motion control for Pendubot which has an angular constraint. The controller is based on input-output linearization and output zeroing control. The purpose of this paper is to optimize the target pathway in order to maximize the velocity of the ball in horizontal throw. To achieve this purpose, this paper introduces Bezier curve as the target pathway and optimizes parameters of Bezier curve. For the easiness of design the pathway, optimization of the pathway represented by Bezier curve is dealt with in this paper. Simulation and experiment is carried out to verify the validity of optimization.