Development of a Golf Swing Robot to Simulate Human Skill

2000 ◽  
Vol 12 (3) ◽  
pp. 325-332 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Control System ◽  
Motion Control ◽  
Shoulder Joint ◽  
Wrist Joint ◽  
Golf Swing ◽  
Experimental Results ◽  
Simplified Model ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
And Control

We propose a new golf swing robot to simulate dynamic skill of motion control in human golf swing action, that is, multi-step acceleration by dynamic drive. Human swing is simplified as a motion of two-step acceleration, realized by dynamic coupling drive between equivalent shoulder joint and wrist joint. According to the simplified model, a manipulator with one actuated joint and one passive joint equipped with mechanical stopper or brake is proposed as the mechanism of golf swing robot. A small prototype of the golf swing robot to swing a club for junior has been developed, and swing experiments have been done by the robot. The feasibility of the proposed mechanism and control system for golf swing robot is shown by experimental results.

Human Dynamic Skill in High Speed Actions and Its Realization by Robot

2000 ◽  
Vol 12 (3) ◽  
pp. 318-324 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Motion Control ◽  
Basic Concept ◽  
High Speed ◽  
Control Method ◽  
Golf Swing ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
Ultra High Speed ◽  
Simulation Results ◽  
And Control

This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.

The Research on Multi-Axes Automatic Motion Control Systems

2012 ◽  
Vol 459 ◽  
pp. 75-78
Author(s):  
Lian Jun Hu ◽  
Xiao Hui Zeng ◽  
Gui Xu Chen ◽  
Hong Song
Keyword(s):  
Control System ◽  
Embedded Systems ◽  
Automatic Control ◽  
Control Systems ◽  
Motion Control ◽  
Automatic Control System ◽  
Experimental Results

An automatic control system for multi-axes motions based on multi-CPU embedded systems is proposed in the paper, in order to overcome insufficiencies of available multi-axes automatic dispensing control systems. It is shown from experimental results that expected control objectives for multi-axes motions are achieved.

scholarly journals Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 19 ◽  
Author(s):  
Bao Tri Diep ◽  
Ngoc Diep Nguyen ◽  
Thanh T. Tran ◽  
Quoc Hung Nguyen
Keyword(s):  
Control System ◽  
Shoulder Joint ◽  
Experimental Validation ◽  
Force Feedback ◽  
Feedback System ◽  
Radial Force ◽  
Experimental Results ◽  
The Other ◽  
Sliding Joint ◽  
End Effectors

This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.

Robotic Cross-Lines Laser Indicator and Range Finder

2011 ◽  
Vol 311-313 ◽  
pp. 1594-1598
Author(s):  
June Wen Chen ◽  
Jing Bin Duan ◽  
Shih Jui Wu ◽  
Yi Shan Chen ◽  
Li An Chiu ◽  
...  
Keyword(s):  
Control System ◽  
Experimental Results ◽  
Lens Design ◽  
Range Finder ◽  
Theoretical Derivation ◽  
Robotic Vision ◽  
Cam Design ◽  
Cad Cam ◽  
And Control

A novel robotic vision and control system using cross-lines laser indicator and range finder simultaneously is developed. This modular have fine crossed lines indication of 1.2mm sharpness at 5 m distance, and simultaneously ranging accuracy of 3 mm up to the range of 100 m. The theoretical derivation, CAD/CAM design, and lens design together with experimental results will be presented in detail.

The Research of Stepper Motor Subdivision Control System for Cloth-Cutting Machines

2013 ◽  
Vol 443 ◽  
pp. 285-289
Author(s):  
Chuan Ke Lai
Keyword(s):  
Control System ◽  
Control Problem ◽  
Motion Control ◽  
High Precision ◽  
Experimental Results ◽  
Stepper Motor ◽  
Stepping Motor ◽  
Precision Stepping

For stepper motor motion control problem of tailoring machine,the paper designed control system based on the LPC2138 and SLA7062 stepper motor subdivision , and realize of high-precision stepping motor subdivision control. Experimental results show that the stepper motor can be subdivided under the control of the control system stable and accurate operation, tailoring machines can meet the accuracy requirements.

scholarly journals Motion Control System of Unmanned Railcars Based on Image Recognition

2019 ◽  
Vol 2 (1) ◽  
pp. 9
Author(s):  
Yuan-Wei Tseng ◽  
Tsung-Wui Hung ◽  
Chung-Long Pan ◽  
Rong-Ching Wu
Keyword(s):  
Computer Vision ◽  
Control System ◽  
Motion Control ◽  
Image Recognition ◽  
Electromagnetic Interference ◽  
Integrated System ◽  
Radio Communication ◽  
Motion Control System ◽  
Computer Vision Technology ◽  
And Control

The main purpose of this paper is to construct an autopilot system for unmanned railcars based on computer vision technology in a fixed luminous environment. Four graphic predefined signs of different colors and shapes serve as motion commands of acceleration, deceleration, reverse and stop for the motion control system of railcars based on image recognition. The predefined signs’ strong classifiers were trained based on Haar-like feature training and AdaBoosting from Open Source Computer Vision Library (OpenCV). Comprehensive system integrations such as hardware, device drives, protocols, an application program in Python and man machine interface have been properly done. The objectives of this research include: (1) Verifying the feasibility of graphic predefined signs serving as commands of a motion control system of railcars with computer vision through experiments; (2) Providing reliable solutions for motion control of unmanned railcars, based on image recognition at affordable cost. The experiment results successfully verify the proposed methodology and integrated system. In the main program, every predefined sign must be detected at least three times in consecutive images within 0.2 s before the system confirms the detection. This digital filter like feature can filter out false detections and make the correct rate of detections close to 100%. After detecting a predefined sign, it was observed that the system could generate new motion commands to drive the railcars within 0.3 s. Therefore, both real time performance and the precision of the system are good. Since the sensing and control devices of the proposed system consist of computer, camera and predefined signs only, both the implementation and maintenance costs are very low. In addition, the proposed system is immune to electromagnetic interference, so it is ideal to merge into popular radio Communication Based Train Control (CBTC) systems in railways to improve the safety of operations.

Device and Method for Large Size Aspheric Measurement

2010 ◽  
Vol 97-101 ◽  
pp. 4324-4327
Author(s):  
Yong Lu Zhu ◽  
Yin Biao Guo ◽  
Xiao Long Ke ◽  
Lu Shuang Chen
Keyword(s):  
Control System ◽  
Measurement System ◽  
Measurement Method ◽  
Measurement Accuracy ◽  
Detection System ◽  
Experimental Results ◽  
Aspheric Surface ◽  
Large Size ◽  
And Control

In this paper, the necessary instrument and control system called the “Large Size Four-axis Measurement System” which used for measuring large size aspheric surface have been designed and established. Then the development of semi-meridian measurement method on basis of large size four-axis detection system has been reported. The measurement paths were planed and the measurement program was performed on the IPC. The method can significantly reduced the align error caused by the aspheric center which is not coincidence with the rotation platform center. With the measurement system, an aspheric surface was successfully measured; whose radius of semi-meridian was 55 mm. The experimental results show that the developed methods are simple and rapid. The measurement accuracy can satisfy requirement of aspheric surface.

Build for Motion Control System of Planar Five-Bar Parallel Mechanism

2013 ◽  
Vol 397-400 ◽  
pp. 1563-1567
Author(s):  
Dong Yang Zhao ◽  
Hong Bing Xin ◽  
Quan Lai Li ◽  
Deng Qi Cui ◽  
Yue Fei Xin ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Servo Control ◽  
Motion Controller ◽  
The Core ◽  
Planning And Control ◽  
Servo Control System ◽  
And Control

MC206X motion controller being chosen as the core of the system, this paper built the control system of a planar five-bar parallel robot, achieved the debugging of the hardware of a full servo control system, developed the Motion Perfect software system on the basis of the Windows-based operating system to complete the planning and control of continuous paths.

A Framework for Fused Experimental/Numerical Plant and Control System Optimization Using Iterative G-Optimal Design of Experiments

2016 ◽  
Author(s):  
Nihar Deodhar ◽  
Christopher Vermillion
Keyword(s):  
Control System ◽  
Optimal Design ◽  
Design Of Experiments ◽  
Center Of Mass ◽  
System Optimization ◽  
Energy System ◽  
Experimental Results ◽  
Optimal Design Of Experiments ◽  
Wind Energy System ◽  
And Control

This paper presents a methodology for optimally fusing experiments and numerical simulations in the design of a combined plant and control system. The proposed methodology uses G-optimal Design of Experiments to balance the need for experimental data with the expense of collecting a multitude of experimental results. Specifically, G-optimal design is used to first select a batch of candidate experimental configurations, then determine which of those points to test experimentally and which to numerically simulate. The optimization process is carried out iteratively, where the set of candidate design configurations is shrunken at each iteration using a Z-test, and the numerical model is corrected according to the most recent experimental results. The methodology is presented on a model of an airborne wind energy system, wherein both the center of mass location (plant parameter) and trim pitch angle (controller parameter) are critical to system performance.

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