ABSTRACT: In this paper we discuss our simulation and empirical study of a golf swing motion controller for a two-link golf swing robot.
We distinguish two variants of the whole golf swing termed as hitting problem and stopping problem. For the hitting problem
arising from backswing and downswing, we map the task into the output of a target dynamic system—a harmonic oscillator—under
energy control. For the stopping problem that arises from follow-through, we propose a Proportional plus Gravity and Coupling
Torque Compensation (PGCTC) feedback controller. Preliminary simulation study shows the proposed controllers solve the hitting
problem and the stopping problem respectively. The controllers are implemented on a physical robot. Experimental results indicate
the robot is able to perform desired golf swing-backswing, downswing, and follow-through. We also give a preliminary analysis
on the proposed method to understand its merits and weaknesses.
Journal of Intelligent and Robotic Systems 04/2012; 56(3):277-299. · 0.83 Impact Factor