Impedance Control for a Golf Swing Robot to Emulate Different-Arm-Mass Golfers

Abstract

Various golfers can play different golf swing motions even if they hold the same golf club. This phenomenon casts light on the significance of the dynamic interaction between the golfer’s arm and golf club. The dynamic interaction results in different swing motions, even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers in consideration of the dynamic interaction between human arm and golf club. Based on the Euler–Lagrange principle and assumed modes technique, a mathematical model of golf swing considering the shaft bending flexibility is established to simulate the swing motions of different-arm-mass golfers. The impedance control method is implemented to a prototype of golf swing robot composed of one actuated joint and one passive joint. The comparison of the swing motions of the robot and different-arm-mass golfers is made and the results show that the proposed golf swing robot with the impedance control method can emulate different-arm-mass golfers.