| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a golf swing robot which can reproduce swing similar to that of a person even when the mass of a robot arm is sufficiently larger than the mass of the arm of the person, and which covers marked variation of the physique of the person of an object by controlling. <P>SOLUTION: The swing robot is composed of: an arm whose one end is connected to a motor shaft and which is rotatable with the one end as a fulcrum; a club shaft whose one end is connected rotatably to the other end of the arm; a sensor provided at the connection part of the arm and the club shaft; and a controller for controlling the operation of the arm by sending a command to the motor based on the measured value of the sensor. The controller controls the operation of the arm by calculating the angular velocity of the arm based on the measured value obtained by the sensor, and drives the motor by impedance control with the angular velocity as a velocity command value. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
