Title :
A new motion control method for golf swing robot hitting a ball
Author :
Ming, A. ; Henmi, M. ; Xu, C. ; Shimojo, M.
Author_Institution :
Dept. of Mechanical Eng. & Intelligent Syst., Electro-Communications Univ., Tokyo
Abstract :
A new golf swing robot to simulate human motion has been developed. This paper deals with motion control of the robot for hitting a ball. For the case, it becomes important to control the motion of the robot after the impact, to avoid breaking a club. In this paper, a method for controlling the robot adaptable to various impact conditions is proposed. The motion state of the robot is estimated first by an extended Kalman filter, and a new reference trajectory is generated on-line according to the estimated state. The method has been implemented to the robot successfully
Keywords :
Kalman filters; adaptive systems; biomechanics; intelligent robots; manipulators; motion control; physiological models; sport; state estimation; ball hitting; extended Kalman filter; golf swing robot; human motion simulation; impact conditions adaptability; motion control method; robot motion state estimation; Humanoid robots; Humans; Intelligent robots; Intelligent structures; Manipulator dynamics; Motion control; Motion estimation; Prototypes; Shoulder; State estimation;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511226
