Motion control of golf swing robot based on target dynamics

被引：8
|
作者：
Xu, Chunquan [1 ]
Nagaoka, Takeharu [1 ]
Ming, Aiguo [1 ]
Shimojo, Makoto [1 ]
机构：
[1] Univ Electrocommun, Dept Mech Engn & Intelligent Syst, 1-5-1 Chofugaoka, Tokyo 1828585, Japan
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
energy control; golf swing robot; motion planning; target dynamics;
D O I：
10.1109/IROS.2006.281704
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new golf swing robot performing high-speed golf swings has been developed by the authors. This paper deals with the motion planning problem of the golf swing. A target dynamics based control scheme is proposed. This control scheme maps the robot to a harmonic oscillator (target dynamical system). Based on the target system, energy control is adopted to realize a specified hitting speed at a specified impact position in the swing. After the swing passed through the impact position, PD control and PD plus gravity, joint torque and coupling torque compensation control are adopted to smoothly slow down and stop the swing at a specified finish position. Simulation and experimental results show the effect of the proposed method.
引用
收藏
页码：2545 / +
页数：2
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