Development and analysis of a five degrees of freedom robotic manipulator serving as a goalkeeper to train the football players

The need of the robotic manipulators in different zones such as medical, industrial, academic and sports are available in the literatures and discussed. In the sports field like cricket, football, tennis, badminton different robotic manipulators have been used to train the players for betterment and to enhance the efficiency of the players. Football is one of the most popular game played internationally. But in the game of football we have limited invention of the robotic manipulator to train the players. Therefore, in this work the study of the development of a robotic manipulator is presented which will serve as a goalkeeper. The studied robotic manipulator has six numbers of link which is connected to the different joints and possessing five degrees of freedom. This robotic manipulator tried to defend the ball to enter the court and the simulation results and its performance have been presented here. The study will mostly be focused on the dynamics of proposed robotic manipulator using "Newton-Euler" method, "Euler-Lagrange" method and "Decoupled Natural Orthogonal Complement" (DeNOC). Due to the complexity and time consuming of Newton-Euler method and Euler-Lagrange method, the recursive Decoupled Natural Orthogonal Complement is used for the dynamic analysis and the comparison between these three methods are presented here. The effectiveness and performance of the proposed robotic manipulator with the help of different complex trajectories is presented in this work. It is found from the analysis that the proposed manipulator can be applied for the training purpose of players.