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Toward a dynamic model of robotic marionettes


Doang, NK and Yong, LK and Wei, D and Koon, GY and I-Ming, C and Huat, YS and Duh, HBL and Kang, L and Hao, SC, Toward a dynamic model of robotic marionettes, Proceedings of RAM 2008, 21-24 September 2008, Chengdu, China, pp. 488 - 493. ISBN 978-1-4244-1676-9 (2008) [Refereed Conference Paper]

Copyright Statement

Copyright 2008 IEEE

DOI: doi:10.1109/RAMECH.2008.4681523


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 Details

Item Type:Refereed Conference Paper
Keywords:Dynamics, modelling, robotic marionette
Research Division:Information and Computing Sciences
Research Group:Library and information studies
Research Field:Human information interaction and retrieval
Objective Division:Information and Communication Services
Objective Group:Information systems, technologies and services
Objective Field:Information systems, technologies and services not elsewhere classified
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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