抄録
This paper studies an optimal control of a golf swing robot that is used to evaluate the performance of golf clubs. Mathematical model of the golf club is derived by Hamilton's principle in consideration of the bending and torsional stiffness, and the eccentricity of gravity center of the club head on the shaft axis. The state variables that cannot be measured are estimated by state observer considering disturbance. Control torque is applied after the impact. LQR is applied to stop the robot during the follow-through. Numerical simulation is compared with experimental results by using a swing robot.
