This brief describes a control strategy for the
throwing motion of an underactuated two-link planar robot
called the Pendubot. The springed Pendubot is built based on the
concept of unstable zero dynamics, and our investigation uses it
as a dynamic model of superior limbs to imitate human throwing
motion. In the proposed control strategy, the zero dynamics is
intentionally destabilized when a ball held by the end-effector
is constrained on a geometric path in a vertical plane, using
output zeroing control for the deviation between the ball and
geometric path. The unstable zero dynamics drives the ball along
the geometric path to achieve fast and accurate throw in a desired
direction. The unstable zero dynamics is analytically derived
to guarantee the dynamic acceleration of the ball along the
geometric path. Numerical simulations and experimental results
confirm the effectiveness of the proposed control strategy.
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