Abstract
In this study, optimal control of a golf swing robot that is used to evaluate the performance of golf clubs is described. A mathematical model is derived by Hamilton's principle. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through. Since the robot moves fast and has strong non-linearity, an ordinary state observer for a linear system cannot accurately estimate the states of the system. A state observer that considers disturbances accurately estimates the state variables. Results of numerical simulation are compared with those of experiment.
