| ID | 30050 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| Abstract | Yo-yo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down, by moving a string tied to it. Humans can play with a yo-yo without difficulty. However, developing a robot system that can play with a yo-yo presents a significant challenge to controller design, because the dynamics of the yo-yo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper present a model and a control scheme for robotic yo-yo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete dime formulation and the controller design |
| Keywords | discrete time systems
intelligent control
motion control
motion estimation
robot dynamics
robot vision
state feedback
|
| Note | Digital Object Identifier: 10.1109/ROBOT.1996.506562
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, 22-28 April 1996, Vol. 3, Pages 2650-2655. Publisher URL:http://dx.doi.org/10.1109/ROBOT.1996.506562 Copyright © 1996 IEEE. All rights reserved. |
| Published Date | 1996-4
|
| Publication Title |
Robotics and Automation
|
| Volume | volume3
|
| Start Page | 2650
|
| End Page | 2655
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/66
|
