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Research Papers

Impedance Control for a Golf Swing Robot to Emulate Different-Arm-Mass Golfers

[+] Author and Article Information
C. C. Chen, Y. Inoue, K. Shibata

Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Tosayamada-cho, Kochi-prefecture, 782-8502 Japan

J. Dyn. Sys., Meas., Control 130(2), 021007 (Feb 29, 2008) (8 pages) doi:10.1115/1.2837313 History: Received June 08, 2006; Revised July 20, 2007; Published February 29, 2008

Various golfers can play different golf swing motions even if they hold the same golf club. This phenomenon casts light on the significance of the dynamic interaction between the golfer’s arm and golf club. The dynamic interaction results in different swing motions, even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers in consideration of the dynamic interaction between human arm and golf club. Based on the Euler–Lagrange principle and assumed modes technique, a mathematical model of golf swing considering the shaft bending flexibility is established to simulate the swing motions of different-arm-mass golfers. The impedance control method is implemented to a prototype of golf swing robot composed of one actuated joint and one passive joint. The comparison of the swing motions of the robot and different-arm-mass golfers is made and the results show that the proposed golf swing robot with the impedance control method can emulate different-arm-mass golfers.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Dynamic model of golf swing. The Z and z axes are perpendicular to the swing plane.

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Figure 4

Configuration of the control system

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Figure 5

Prototype of golf swing robot

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Figure 6

Schematic diagram of the experimental control system

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Figure 7

Obtainment of the reaction torque Nr

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Figure 8

Force analysis of the handgrip

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Figure 9

Obtainment of the force fs whose direction is perpendicular to the arm

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Figure 10

Torque of shoulder joint for different-arm-mass golfers

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Figure 11

Comparison of the swing motions of the different-arm-mass golfers: (a) arm rotational angle, (b) club rotational angle, (c) arm angular velocity, and (d) club angular velocity

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Figure 12

The errors in the swing motions of the 7kg arm-mass golfer (H1): (a) error in arm rotational angle, (b) error in club rotational angle, (c) error in arm angular velocity, and (d) error in club angular velocity

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Figure 13

The errors in the swing motions of the 5kg arm-mass golfer (H2): (a) error in arm rotational angle, (b) error in club rotational angle, (c) error in arm angular velocity, and (d) error in club angular velocity

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Figure 14

The errors in the swing motions of the 3kg arm-mass golfer (H3): (a) error in arm rotational angle, (b) error in club rotational angle, (c) error in arm angular velocity, and (d) error in club angular velocity

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