Control of a Flexible Link Hammer for a Hammering Robot

Abstract This paper deals with a flexible link for a hammering robot. When a flexible link is rotated by a motor, the head of a hammer vibrates complicatedly. The first mode of the vibration is of great use for increasing a hitting velocity and for absorbing a reaction from a hit object. The higher modes disturb the hitting velocity and direction. A hammer driving system is constituted to suppress the higher modes. Some conditions that the hammer robot can hit an object from a normal direction with a specified normal velocity are taken into consideration.