Golf swing robots can be thought as a kind of fast motion manipulators with a flexible link. Robot manipulators are affected strongly from Corioli’s and centrifugal forces in fast motion. It is said that these forces make the performance of feedback control worse. In the same way, ordinal state observers for the linear system cannot estimate the accurate states of those systems. Nonlinear observers estimate the states more accurately than the linear one. However, these cost more computing time and need the exact model of the system. Thus we use a state observer that considers disturbances such as dynamics not modeled, uncertainties and external disturbances to improve the performance of state estimation and the feedback control. The structure of this observer is a combined system of a full-order observer and a type 1 digital servo system. It can estimate not only the state variables of the system accurately but also disturbances in spite of simple algorithm.
Vibration Control Under Fast Motion of a Golf Swing Robot
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Hoshino, Y, & Kobayashi, Y. "Vibration Control Under Fast Motion of a Golf Swing Robot." Proceedings of the ASME 7th Biennial Conference on Engineering Systems Design and Analysis. Volume 1. Manchester, England. July 19–22, 2004. pp. 773-780. ASME. https://doi.org/10.1115/ESDA2004-58245
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