کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
731348 893049 2012 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Motion planning of a golf swing robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Motion planning of a golf swing robot
چکیده انگلیسی

We report our studies of a new motion planning method for a two-link golf swing robot. We introduce two fundamental properties of manipulator dynamics: the time-reversal symmetry property and the pendulum property. The former is used to reverse the rest-to-point pre-impact swing (backswing and downswing) into a symmetric point-to-rest swing in time, and the latter is used to design a proportional-derivative plus gravity, joint and coupling torque compensation control algorithm to plan the reversed pre-impact swing and the point-to-rest follow-through swing. By using this method, accurate impact position and hitting speed control of the golf swing and low computational cost are achieved. The introduced properties hold true for general multi-revolute-joint planar manipulators and the proposed motion planning algorithm can be implemented on them too.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 22, Issue 1, February 2012, Pages 13–23
نویسندگان
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