NDLI: Motion Control of a Golf Swing Robot

Content Provider	Springer Nature Link
Author	Xu, Chunquan Ming, Aiguo Nagaoka, Takeharu Shimojo, Makoto
Copyright Year	2009
Abstract	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.
Starting Page	277
Ending Page	299
Page Count	23
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	56
Issue Number	3
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2009-02-21
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Energy control Golf swing Motion control PGCTC control Target dynamics Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Kinematics, Dynamics and Power Consumption Analyses for Turning Motion of a Six-Legged Robot

Dynamics and Motion Planning of Trident Snake Robot

Motion planning for a golf swing robot based on reverse time symmetry and PGCTC control

Special Issue on Autonomous Robot Systems

Autonomous Robot Systems : Guest Editorial

Homotopic Roadmap Generation for Robot Motion Planning

A Flow-based Motion Perception Technique for an Autonomous Robot System

Model Predictive Motion Control based on Generalized Dynamical Movement Primitives

Robot Formations Using a Single Camera and Entropy-based Segmentation

Motion Control of a Golf Swing Robot

Similar Documents

Kinematics, Dynamics and Power Consumption Analyses for Turning Motion of a Six-Legged Robot

Dynamics and Motion Planning of Trident Snake Robot

Motion planning for a golf swing robot based on reverse time symmetry and PGCTC control

Special Issue on Autonomous Robot Systems

Autonomous Robot Systems : Guest Editorial

Homotopic Roadmap Generation for Robot Motion Planning

A Flow-based Motion Perception Technique for an Autonomous Robot System

Model Predictive Motion Control based on Generalized Dynamical Movement Primitives

Robot Formations Using a Single Camera and Entropy-based Segmentation

Motion Control of a Golf Swing Robot