1A1-E17 A Study on Golf Swing Robot : Motion Control Method based on Energy Control

Abstract

A method combing target dynamics with energy control to generate golf swing trajectories is considered. The time cost of trajectory generation becomes very low by applying the method. A series of swing trajectories from address position to finish position with different boundary conditions and constraints are generated. Experiments are carried out by adopting the generated trajectories as reference inputs and PD control law. Experimental results confirmed the feasibility of the method.