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 q <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> and q <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">m</sub> , measured with respect to the horizontal axis, respectively, whereas q <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> denote the angle change between the arm and forearm at the elbow joint.
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