Motion generation for hyper dynamic manipulation

Basic concept about how to realize hyper dynamic manipulation by a robot has been given by the authors in previous works. Based on the analysis results of human hyper dynamic manipulation, two key issues concerning the realization of hyper dynamic manipulation by an anthropomorphic mechanism, namely, utilization of dynamically coupled driving and structural joint stops, have been emphasized. Therefore, unlike that for conventional manipulators, our approach is to design and control a hyper dynamic manipulator based on the utilization of dynamically coupled driving and structural joint stops. Motion generation based on this approach is critical to the utilization of dynamically coupled driving and joint stops, and presents great difficulties. In this paper, a new method for motion generation is proposed, and its superior numerical stability achieved with high accuracy is shown by simulation results. Many meaningful and interesting results for the hyper dynamic manipulation for a two-joint manipulator are obtained in simulation. Moreover, the hyper dynamic manipulation is realized successfully by a prototype of a golf swing robot, designed based on the concept presented in this paper.