Motion planning for a new golf swing robot

摘要

A new golf swing robot to simulate the human skill of motion control in a golf swing has been developed by authors. It consists of one actuated joint and one passive joint with mechanical stopper. Optimal motion planning of the robot to satisfy the boundary conditions and non-holonomic constraint introduced by the stopper under different cost functions is discussed. A general method for motion planning of such types of system is described and the results of motion planning for the golf swing robot are shown.