Authors

S. Sakai, C. Xu, A. Ming, M. Shimojo

Abstract

This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators’ capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH) system theory resulting in an energy controller which not only takes the mechanical joint stops into account but also realizes torque compensation from a high-power actuator to a low-power actuator. Simulation and experimental results prove the proposed method can generate the golf swings with specified hitting speed and finish position for our specially designed robot.

Citation

  • Journal: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Year: 2009
  • Volume:
  • Issue:
  • Pages: 279–284
  • Publisher: IEEE
  • DOI: 10.1109/iros.2009.5353947

BibTeX

@inproceedings{Sakai_2009,
  title={{Motion planning for a high-speed manipulator with mechanical joint stops based on target dynamics and PCH system}},
  DOI={10.1109/iros.2009.5353947},
  booktitle={{2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  publisher={IEEE},
  author={Sakai, S. and Xu, C. and Ming, A. and Shimojo, M.},
  year={2009},
  pages={279--284}
}

Download the bib file

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