72
Biologically Inspired Robotics
TABLE 4.1
Main Specifications of DD Motors
Shoulder Joint
Wrist Joint
Max. torque (Nm)
110
9.8
Max. speed (rps)
4.3
5
Max. power (W)
3,000
70
Resolution of resolver (PPR)
31,9488
338,840
Weight (kg)
32
1.6
TABLE 4.2
Boundary Conditions
W W
= =
t t m
=
=
t t f
(Address Time)
(Impact Time)
(Finish Time)
θ (deg)
N/A
θ 10 = 270
θ 1P = 270
θ 20 = 0
θ 2P = 0
q
q
θ 10 = 0
v ym = 0 m s
( )
θ = 0
θ
1 I
q (rad/s)
q
q
θ 20 = 0
θ 2 I = 0
N/A
qq
qq
qq
θ 1 I = 0
θ (rad/s 2 )
θ 10 = 0
qq
qq
θ 2 I = 0
θ 20 = 0
⎧
p
τ
⎪ 1 ( )
t = a 0 + ∑ a 2n-1 cos ( nt kt f + a
⎪
2n
n=1

)
⎨

(4.20)
⎪
q

τ 2 ( )
t = b 0 +
b
⎩
∑ 2 2 1
n- cos ( nt kt f + b
⎪
2n
n=1
)

where 0 ≤ ≤
t t f , k > 0 .
Considering the motion specifications shown in Table  4.2, the detailed
motion generation model is expressed by Equation (4.21). Herein, t m is the
time to realize the desired motion specifications, t f is the finish time, v x is
the translational speed of the club head in the X 0 direction, v y is the translational speed in the Y 0 direction, v xm and v ym are the desired impact speeds in
the X 0 and Y 0 directions, and θ m is the desired impact position. θ θ q I = and
θ qq θ I = are the stop conditions of the manipulator without considering the
stop position.
min C ( τ τ, t m , t f )
(4.21)