Dynamics and Impact Control of a Flying Soccer Ball

Dynamics and Impact Control of a Flying Soccer Ball Jae Yeon Choi and Byung-Ju Yi School of Electrical Engineering and Computer Science, Hanyang University, Ansan 426-791 (Received 12 August 2008, in nal form 31 October 2008) This paper deals with the dynamics and the impact control of a soccer ball driven by a kicking robot. The trajectory of the ball is a function of its initial velocity, launch angle and some aerodynamic e ect. Specially, the initial velocity is created by an instant impulse given to the ball. The external impulse exerted on a ball by a kicking robot is a function of the robot's geometry and dynamic parameters. Initially, we analyze the external impulses for several kicking postures and we simulate trajectories for several di erent kicking conditions. Based on this observation, a trajectory-planning algorithm calculating the initial velocity and the launch angle of the ball is proposed, an external impulse required for that motion is calculated and the result is applied to the kicking simulation. The aerodynamic e ect, such as the drag force and the lift force, is also incorporated into the dynamic simulation of the soccer ball. A kicking robot has been developed for experimental veri cation of the proposed analytical methodology. The experimental result is shown to be in good agreement with the simulation result within a 10 % error bound. PACS numbers: 45.40.Ln, 05.45.-a