Toward a Dynamic Model of Robotic Marionettes
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...
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| creator | Nguyen Kim Doang Lim Kwang Yong Dong Wei Goh Young Koon Chen I-Ming Yeo Song Huat Duh, H.B.-L. Li Kang Su Chen Hao |
| description | 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. |
| doi_str_mv | 10.1109/RAMECH.2008.4681523 |
| format | Conference Proceeding |
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| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2158-2181 |
| ispartof | 2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008, p.488-493 |
| issn | 2158-2181 |
| language | eng |
| recordid | cdi_ieee_primary_4681523 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Aerodynamics dynamics Feedforward systems Humans Inverse problems Mechatronics modelling Motion control Read only memory robotic marionette Robots |
| title | Toward a Dynamic Model of Robotic Marionettes |
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