Motion Control of a Golf Swing Robot

In this paper we discuss our simulation and empirical study of a golf swing motion controller for a two-link golf swing robot. We distinguish two variants of the whole golf swing termed as hitting problem and stopping problem. For the hitting problem arising from backswing and downswing, we map the task into the output of a target dynamic system—a harmonic oscillator—under energy control. For the stopping problem that arises from follow-through, we propose a Proportional plus Gravity and Coupling Torque Compensation (PGCTC) feedback controller. Preliminary simulation study shows the proposed controllers solve the hitting problem and the stopping problem respectively. The controllers are implemented on a physical robot. Experimental results indicate the robot is able to perform desired golf swing-backswing, downswing, and follow-through. We also give a preliminary analysis on the proposed method to understand its merits and weaknesses.

[1]  Hikaru Inooka,et al.  Golf-swing robot emulating a human motion , 1997, Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI.

[2]  Kang G. Shin,et al.  Minimum-time control of robotic manipulators with geometric path constraints , 1985 .

[3]  Hikaru Inooka,et al.  A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY , 1998 .

[4]  Katsunari Shibata,et al.  Robotic batting system — an architecture for learning and dynamic pattern generation , 2000, Adv. Robotics.

[5]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[6]  Katsuhisa Furuta,et al.  Swinging up a pendulum by energy control , 1996, Autom..

[7]  Giuseppe Oriolo,et al.  Trajectory Planning and Control for Planar Robots with Passive Last Joint , 2002, Int. J. Robotics Res..

[8]  K. Kreutz-Delgado,et al.  Minimal energy control of a biped robot with numerical methods and a recursive symbolic dynamic model , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[9]  Yukinori Kobayashi,et al.  Vibration Control Using a State Observer that Considers Disturbances of a Golf Swing Robot , 2005 .

[10]  Aiguo Ming,et al.  Motion control skill in human hyper dynamic manipulation-an investigation on the golf swing by simulation , 2001, Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515).

[11]  Friedrich Pfeiffer,et al.  A concept for manipulator trajectory planning , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[12]  C. C. Chen,et al.  Numerical study on the wrist action during the golf downswing , 2007 .

[13]  Ben Heller,et al.  Multiple modulation torque planning for a new golf-swing robot with a skilful wrist turn , 2006 .

[14]  Masatoshi Ishikawa,et al.  High-speed batting using a multi-jointed manipulator , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  Russell L. Anderson,et al.  A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control , 1988 .

[16]  Suzuki,et al.  A new golf-swing robot model emulating golfer’s skill , 1999 .

[17]  Alberto Isidori,et al.  Nonlinear control systems: an introduction (2nd ed.) , 1989 .

[18]  Masaki Yamakita,et al.  Trajectory tracking control by an adaptive iterative learning control with artificial neural networks , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[19]  A. Isidori.  Nonlinear Control Systems , 1985 .

[20]  J. Bobrow,et al.  Time-Optimal Control of Robotic Manipulators Along Specified Paths , 1985 .

[21]  Z. Shiller,et al.  Computation of Path Constrained Time Optimal Motions With Dynamic Singularities , 1992 .

[22]  Jean-Jacques E. Slotine,et al.  Improving the Efficiency of Time-Optimal Path-Following Algorithms , 1988, 1988 American Control Conference.

[23]  Aiguo Ming,et al.  Human Dynamic Skill in High Speed Actions and Its Realization by Robot , 2000, J. Robotics Mechatronics.

[24]  S. Hara,et al.  Energy preserving control of a hopping robot based on hybrid port-controlled Hamiltonian modeling , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[25]  A. Schaft.  L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences 218 , 1996 .

[26]  Jun Nakanishi,et al.  A brachiating robot controller , 2000, IEEE Trans. Robotics Autom..

[27]  Yoshio Inoue,et al.  Impedance Control for a Golf Swing Robot to Emulate Different-Arm-Mass Golfers , 2008 .