82
Biologically Inspired Robotics
–8
–6
–4
–2
0
2
4
6
8
Torque (Nm)
τ 2d Real dynamically-coupled driving torque 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)
(e)
FIGURE 4.10 (Continued)
Experimental result with joint stop for V xm = 25 m/s: (e) dynamically coupled driving torque
of joint 2.
2. The maximum torque of the shoulder joint becomes much smaller
due to the joint stop (Figure 4.10c).
Therefore, it is concluded that an efficient hyper dynamic manipulation is
achieved by way of using dynamically coupled driving and joint stops in the
smart structure manipulator.
4.5 Conclusion
To improve the capability of a manipulator, especially the capability for
hyper dynamic manipulation, a basic concept of utilizing dynamically coupled driving and structural joint stops in a manipulator inspired by humans
has been proposed. To show the feasibility of this proposal, a prototype of a
hyper dynamic manipulator, namely, a golf swing robot, has been developed.
Experimental results show that hyper dynamic manipulation can be realized efficiently by the smart structure manipulator, through using such disposition of actuators and joint stops in the manipulator. It can be expected
that this approach will serve as a general way toward realizing hyper
dynamic manipulations for robots; for example, humanoid robots.