Robotic marionettes are those mechatronic system in which strings that control motion of a puppet are driven by a puppeteer platform including motor-pulley modules. Systematic control of robotic marionettes is now still a tough problem, which several research groups have been attempting to solve. In this paper, we present dynamic models of the robotic marionette developed from Lagrange equation. Feed-forward control and feedback control are studied based on the dynamic models with the illustration of block diagrams. A process of identifying the parameters appearing in the dynamic models is presented in details. The modeling provides better insight of the system, and builds a mathematical platform to research the control and simulation of the marionette system.

Item Type:	Refereed Conference Paper
Keywords:	Dynamics, modelling, robotic marionette
Research Division:	Information and Computing Sciences
Research Group:	Information Systems
Research Field:	Computer-Human Interaction
Objective Division:	Information and Communication Services
Objective Group:	Computer Software and Services
Objective Field:	Application Tools and System Utilities
UTAS Author:	Duh, HBL (Professor Henry Duh)
ID Code:	90475
Year Published:	2008
Deposited By:	Information and Communication Technology
Deposited On:	2014-04-07
Last Modified:	2014-08-06
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