Kinematic and dynamic modeling of robot manipulator for golf swing training system

A golf swing training system has been designed to allow users to improve their skill through careful guidance along an ideal golf swing trajectory. The training system is designed as a 6-DOF robot manipulator which controls the position and orientation of the golf club grip point. The manipulator's position and velocity kinematics are described using the DH coordinate frame method, from which a closed-form inverse kinematic solution is derived. The dynamics of the robot manipulator are described using the Euler-Lagrange equations of motion. The results of the inverse kinematic solution are used to drive the six joint motors using motion analysis simulation with a model of the golf swing training system, verifying the solution can obtain the desired golf swing trajectory.