Motion Control of Golf Swing Robot Based on Target Dynamics
Motion Control of Golf Swing Robot Based on Target Dynamics
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基于目标动力学的高尔夫挥杆机器人运动控制
DOI：
10.1109/iros.2006.281704
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Shimojo
中科院分区：
文献类型：
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作者：
Chunquan Xu;Takeharu Nagaoka;A. Ming;M. Shimojo
研制了一种新型高尔夫挥杆机器人，用于高速挥杆。本文研究了高尔夫球挥杆的运动规划问题。提出了一种基于目标动力学的控制方案。该控制方案将机器人映射到谐振子（目标动力系统）。在目标系统的基础上，采用能量控制的方法，在摆动过程中，在指定的冲击位置实现指定的击球速度。摆动通过冲击位置后，采用PD控制和PD加重力、关节力矩和耦合力矩补偿控制，使摆动平稳减速并在指定的完成位置停止。仿真和实验结果表明了该方法的有效性
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