Control of a new golf swing robot with considering hitting a ball

The motion control skill in human hyper dynamic actions, especially in ultra high speed actions, is being investigated by authors, toward a realization of hyper dynamic manipulation by robot. As a case study, a new golf swing robot to simulate human skill of motion control, that is, multi-steps acceleration by dynamic coupling drive, has been proposed by us. For simplicity, a prototype consisting of one actuated joint by a direct drive motor and one passive joint with a mechanical stopper has been developed. The purpose of this research is to realize smooth control of the robot while hitting a ball. The basic method and experimental results for controlling the motion of the robot in the case of hitting a ball are described in this paper.