Name
Abstract | ||
|---|---|---|
In the paper we address a problem of controlling an oscillating motion with a robot. As the object we have selected a yo-yo. Yo-yo is a toy made of two discs connected with a short thin axle, which can be moved up and down by moving a string tied to the axle. Although it is very easy to play with yo-yo for a human, designing a control system for a robot is quite a challenge. We present a simplified model of a yo-yo, which is intended for control analysis and design. Our model has one degree-of-freedom and the behaviour at the end of the string is modelled as an impact. Next we discuss the control strategy and present a control method, which allows playing the yo-yo at a selected top height. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/IROS.2003.1250722 | IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference |
Keywords | Field | DocType |
control system analysis,control system synthesis,manipulators,motion control,control analysis,control system design,oscillating motion control,robotic yo-yo | Robot control,Control theory,Motion control,Control theory,Computer science,Automatic control,Control engineering,Control system,Iterative learning control,Axle,Feed forward | Conference |
Volume | ISBN | Citations |
1 | 0-7803-7860-1 | 5 |
PageRank | References | Authors |
0.56 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Leon Zlajpah | 1 | 100 | 16.58 |
| Bojan Nemec | 2 | 345 | 30.28 |