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Toward a dynamic model of robotic marionettes
conference contribution
posted on 2023-05-23, 08:49 authored by Doang, NK, Yong, LK, Wei, D, Koon, GY, I-Ming, C, Huat, YS, Duh, HBL, Kang, L, Hao, SCRobotic 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.
History
Publication title
Proceedings of RAM 2008Editors
IEEEPagination
488 - 493ISBN
978-1-4244-1676-9Department/School
School of Information and Communication TechnologyPublisher
IEEEPlace of publication
USAEvent title
2008 IEEE Conference on Robotics, Automation and MechatronicsEvent Venue
Chengdu, ChinaDate of Event (Start Date)
2008-09-21Date of Event (End Date)
2008-09-24Rights statement
Copyright 2008 IEEERepository Status
- Restricted