Abstract
A golf swing robot based on dynamic coupling drive has been developed by authors, which enables high-speed swing while by a smart structure. As a characteristic of the robot, joint stop limiting range of movement at a wrist joint gives strong force of constraint. However, in the case of high-speed manipulating as golf swing, robot would be broken by excessive contact force by accident. In this paper, as a contact control of joint stop, reflexive avoidance by shoulder joint is proposed and applied to following swing. The swing with using reflexive avoidance is realized successfully.
