1P1-P02 三脚型ゴルフスイングロボットの姿勢安定制御(動作計画と制御の新展開(1))

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  • 1P1-P02 Stabilization Control of a Three-legged Golf Swing Robot(New Control Theory and Motion Control (1))

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This paper studies stabilization control of a portable three-legged golf swing robot. Proposed robot consists of a motor to rotate a rigid arm and a rigid link as a golf club. The Joint between the arm and the link is the passive joint having a brake mechanism only. When the arm and the link rotate fast, the robot may become unstable and one or two legs may lift up due to the lift force. To make the robot motion stable, an extension actuator is installed in one leg. Mathematical model of the golf swing robot is derived by Lagrange equation and target trajectories of the arm and the link are proposed. Numerical simulation of the swing motion is carried out and validity of the proposed stabilization approach is shown.

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