이단 진자 시스템을 사용한 골프 스윙 시뮬레이션

In this paper, we derive a dynamic model of a double inverted pendulum and then design the corresponding control to mimic a person"s way of golf swing. From Lagrangian analysis based on kinetic and potential energies, a mathematical model of the double inverted pendulum with two kinds of external torques and lateral force is derived and the control structure is also proposed to preserve the angle between two rods and move the rotational axis with time. It is shown through simulation that the proposed model is quite similar to the dynamics of golf swing and important information such as the maximum hit speed can be obtained numerically.