Torque Planning of a New Golf-Swing Robot to Emulate Skillful Golfers

Soichiro Suzuki

doi:10.20965/jrm.2004.p0355

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JRM Vol.16 No.4 pp. 355-361

doi: 10.20965/jrm.2004.p0355

(2004)

Paper:

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Torque Planning of a New Golf-Swing Robot to Emulate Skillful Golfers

Soichiro Suzuki

Department of Mechanical System Engineering, Kitami Institute of Technology, 165 Koen-cho, Kitami, Hokkaido 090-8507, Japan

Received:

November 11, 2003

Accepted:

July 13, 2004

Published:

August 20, 2004

Keywords:

golf-swing robot, motion control, skill of golfer, torque planning, whole-body motion

Abstract

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.

Cite this article as:

S. Suzuki, “Torque Planning of a New Golf-Swing Robot to Emulate Skillful Golfers,” J. Robot. Mechatron., Vol.16 No.4, pp. 355-361, 2004.

Data files:

References

[1] D. R. Budney, and D. G. Bellow, “On the swing mechanics of a matched set of golf clubs,” Research Quarterly for Exercise and Sport, 53, pp. 185-192, 1982.
[2] T. Jorgensen, “On the dynamics of the swing of a golf club,” American Journal of Physics, 38, pp. 644-651, 1970.
[3] M. A. Lampsa, “Maximizing distance of the golf drive: An optimal control study,” Trans. of the American Society of Mechanical Engineers, J. of Dynamic Systems, Measurement, and Control, 75, pp. 362-367, 1975.
[4] P. D. Milburn, “Summation of segmental velocities in the golf swing,” Medicine and Science in Sports and Exercise, 14, pp. 60-64, 1982.
[5] R. J. Neal, and B. D. Wilson, “3D kinematics and kinetics of the golf swing,” International J. of Sports Biomechanics, 1, pp. 221-232, 1985.
[6] T. Iwatsubo, N. Konishi et al., “Research on optimum design of a golf club,” Trans. of the Japan Society of Mechanical Engineers (c), 56-529, pp. 2386-2391, 1990.
[7] T. Iwatsubo, S. Kawamura et al., “Study on influences of characteristics of golf club on impact phenomenon,” Trans. of the Japan Society of Mechanical Engineers (c), 64-623, pp. 2354-2361, 1998.
[8] A. M. Brylawski, “An investigation of three dimensional deformation of a golf club during downswing,” Proc. of the World Scientific Congress of Golf, pp. 265-270, 1994.
[9] J. H. Butler, and D. C. Winfield, “The dynamic performance of the golf shaft during the downswing,” Proc. of the World Scientific Congress of Golf, pp. 259-264, 1994.
[10] R. D. Milne, and J. P. Davis, “The role of the shaft in the golf swing,” J. of Biomechanics, 25, pp. 975-983, 1992.
[11] A. Miyamae, “Advanced golf clubs start with the latest robot technology,” J. of the Japan Society of Mechanical Engineers, 101-955, pp. 427-429, 1998.
[12] S. Suzuki, and H. Inooka, “A new golf-swing robot model utilizing shaft elasticity,” J. of Sound and Vibration, 217-1, pp. 17-31, 1998.
[13] S. Suzuki, and H. Inooka, “A new golf-swing robot Model emulating golfer’s skill,” Sports Engineering, 2, pp. 13-22, 1999.
[14] S. Suzuki, and H. Inooka, “Experimental study on golf-swing robot adjusting to the characteristics of golf clubs,” Trans. of the Japan Society of Mechanical Engineers (c), 65-637, pp. 3694-3700, 1999.
[15] Z. Jin, M. Ootaki et al., “Study on golf swing robot: Fundamental experiment and trial manufacture of a small prototype,” Prep. of the Japan Society of Mechanical Engineers Annual Conference on Robotics and Mechatronics, pp. 381-382, 1997.
[16] A. Ming, M. Kajitani et al., “Study on golf swing robot: Basic concept,” Prep. of the 13th Annual Conference of the Robotics Society of Japan, pp. 1139-1140, 1995.
[17] A. Ming, and M. Kajitani, “Study on golf swing robot: Optimal trajectory planning with considering flexibility of club shaft,” Prep. of the Japan Society of Mechanical Engineers Symposium on Sports Engineering, pp. 48-49, 1999.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] D. R. Budney, and D. G. Bellow, “On the swing mechanics of a matched set of golf clubs,” Research Quarterly for Exercise and Sport, 53, pp. 185-192, 1982.

[2] [2] T. Jorgensen, “On the dynamics of the swing of a golf club,” American Journal of Physics, 38, pp. 644-651, 1970.

[3] [3] M. A. Lampsa, “Maximizing distance of the golf drive: An optimal control study,” Trans. of the American Society of Mechanical Engineers, J. of Dynamic Systems, Measurement, and Control, 75, pp. 362-367, 1975.

[4] [4] P. D. Milburn, “Summation of segmental velocities in the golf swing,” Medicine and Science in Sports and Exercise, 14, pp. 60-64, 1982.

[5] [5] R. J. Neal, and B. D. Wilson, “3D kinematics and kinetics of the golf swing,” International J. of Sports Biomechanics, 1, pp. 221-232, 1985.

[6] [6] T. Iwatsubo, N. Konishi et al., “Research on optimum design of a golf club,” Trans. of the Japan Society of Mechanical Engineers (c), 56-529, pp. 2386-2391, 1990.

[7] [7] T. Iwatsubo, S. Kawamura et al., “Study on influences of characteristics of golf club on impact phenomenon,” Trans. of the Japan Society of Mechanical Engineers (c), 64-623, pp. 2354-2361, 1998.

[8] [8] A. M. Brylawski, “An investigation of three dimensional deformation of a golf club during downswing,” Proc. of the World Scientific Congress of Golf, pp. 265-270, 1994.

[9] [9] J. H. Butler, and D. C. Winfield, “The dynamic performance of the golf shaft during the downswing,” Proc. of the World Scientific Congress of Golf, pp. 259-264, 1994.

[10] [10] R. D. Milne, and J. P. Davis, “The role of the shaft in the golf swing,” J. of Biomechanics, 25, pp. 975-983, 1992.

[11] [11] A. Miyamae, “Advanced golf clubs start with the latest robot technology,” J. of the Japan Society of Mechanical Engineers, 101-955, pp. 427-429, 1998.

[12] [12] S. Suzuki, and H. Inooka, “A new golf-swing robot model utilizing shaft elasticity,” J. of Sound and Vibration, 217-1, pp. 17-31, 1998.

[13] [13] S. Suzuki, and H. Inooka, “A new golf-swing robot Model emulating golfer’s skill,” Sports Engineering, 2, pp. 13-22, 1999.

[14] [14] S. Suzuki, and H. Inooka, “Experimental study on golf-swing robot adjusting to the characteristics of golf clubs,” Trans. of the Japan Society of Mechanical Engineers (c), 65-637, pp. 3694-3700, 1999.

[15] [15] Z. Jin, M. Ootaki et al., “Study on golf swing robot: Fundamental experiment and trial manufacture of a small prototype,” Prep. of the Japan Society of Mechanical Engineers Annual Conference on Robotics and Mechatronics, pp. 381-382, 1997.

[16] [16] A. Ming, M. Kajitani et al., “Study on golf swing robot: Basic concept,” Prep. of the 13th Annual Conference of the Robotics Society of Japan, pp. 1139-1140, 1995.

[17] [17] A. Ming, and M. Kajitani, “Study on golf swing robot: Optimal trajectory planning with considering flexibility of club shaft,” Prep. of the Japan Society of Mechanical Engineers Symposium on Sports Engineering, pp. 48-49, 1999.