Pendubot. Swing-up. Swing-down mimicking golf swing motion

We have built a pendubot so that lab students to conduct various control experiments. For fun, we performed swing-up and swing-down control of the pendubot. Swing-down control was done so that it mimicks golf swing motion. Control was implemented using a lab-developed LW-RCP (light-weight rapid control prototyping) and Simulink with the sample time of 1 ms. Pay attention to the fact that the first link and the second link of the pendubot form a straight line at the moment when the end of the second link hits the ball. It is just like the player's arm and the shaft of a golf club form a straight line when the head hits the ball in the golf.
연구실 학생들이 다양한 제어 실험을 할 수 있도록 Pendubot을 제작하였습니다. 재미삼아 Pendubot의 swing-up과 swing-down 제어를 수행해 보았습니다. swing-down 제어는 golf의 swing 동작을 모방하도록 수행되었습니다. 제어는 실험실에서 개발한 LW-RCP(light-weight rapid control prototyping)와 Simulink를 사용하여 1ms의 샘플 시간으로 구현되었습니다. 두 번째 link의 끝이 공에 닿는 순간, Pendubot의 첫번째 link와 두번째 link가 일직선을 이룬다는 점에 주목하세요. 이것은 Golf에서 golf head가 공을 때릴때 선수의 팔과 golf club의 shaft가 직선을 이루는 것과 같습니다.

[@chrisr7341]

Great application :D I'm sure you can produce some good swings with it ^^

[@Ro0kRock]

This is so cool, I hope to learn control engineering as well as this oneday

[@javib8970]

How are you dealing with simulink latency?
Whats your interface?

[@urimiroo]

We use a lab-developed rapid control prototyping system (LW-RCP) for real-time control. It is interfaced with Simulink and supports real-time control up to 2 KHz sampling frequency. For detail, refer to our paper => A light-weight rapid control prototyping system based on open source hardware, IEEE Access, vol. 5, no. 1, pp. 11118-11130, 2017.