Angle (deg)
800
700
600
500
400
300
200
θ 1
θ 2
Real angl
Real angl
e of jo
e of jo
int 1
int 2
t t = 0.50
t m = 0.74
t f = 1.16
Backswing
Do
sw
wning
Follow-through
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 Real angular volocity of joint 1
dθ 2 /dt Real 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)
80
Biologically Inspired Robotics
FIGURE 4.10
Experimental result with joint stop for V xm = 25 m/s: (a) angle, (b) angular velocity.
(continued)