75
Human-Inspired Hyper Dynamic Manipulation
200
300
400
500
600
700
800
Angle (deg)
Downswing
Backswing
Follow-through
t t = 0.50
t m = 0.74
t f = 1.16
θ 1 Angle of joint 1
θ 2 Angle of joint 2
0
0.2
0.4
0.6
0.8
1
1.2
Time (s)
(a)
–10
0
10
20
30
40
50
60
Angular Velocity (rad/s)
dθ 1 /dt Angular velocity of joint 1
dθ 2 /dt Angular velocity of joint 2
Downswing
Backswing
Follow-through
t t = 0.50
t m = 0.74
t f = 1.16
0
0.2
0.4
0.6
0.8
1
1.2
Time (s)
(b)
FIGURE 4.8
Simulation results with joint stops for V xm = 25 m/s: (a) angle, (b) angular velocity. (continued)