Motion planning for a high-speed manipulator with mechanical joint stops based on target dynamics and PCH system

This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators´ capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH) system theory resulting in an energy controller which not only takes the mechanical joint stops into account but also realizes torque compensation from a high-power actuator to a low-power actuator. Simulation and experimental results prove the proposed method can generate the golf swings with specified hitting speed and finish position for our specially designed robot.