Optimal control of a ball pitching robot

Abstract

Summary form only given. We study a two-link pitching robot, with an active gripping mechanism and aim to make it throw a ball as far as possible. The two links are connected at the elbow joint by a linear torsional spring. The gripping mechanism is able to hold a ball and release it at any specified time. The two-link pitching robot is connected to a motor shaft at the shoulder joint by a non-linear torsional spring. The shoulder joint is held fixed at the origin of the coordinate system. The configuration of the arm and the motor shaft is illustrated in Figure 1 and described by the angels q1 and qm, measured with respect to the horizontal axis, respectively, whereas q2 denote the angle change between the arm and forearm at the elbow joint.