Torque Planning of a New Golf-Swing Robot to Emulate Skillful Golfers
Department of Mechanical System Engineering, Kitami Institute of Technology, 165 Koen-cho, Kitami, Hokkaido 090-8507, Japan
The performance of golf clubs and balls is often evaluated by using a golf-swing robot. However, the evaluation is not reliable, because the robot cannot swing a golf club like a skillful golfer. In this study, a new golf-swing robot that can adjust its motion to the characteristics of individual golf clubs by emulating a skillful golfer is investigated analytically and experimentally. The wrist is released freely, and the shoulder is controlled by a torque plan that considers the effect of the whole-body motion of a golfer. Thus, this robot can emulate skillful golfers and perform highly reliable evaluations of golf clubs. In this paper, validity of the torque planning of the shoulder is analytically and experimentally investigated.
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