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Robotic yo-yo: modelling and control strategies

Published online by Cambridge University Press:  31 October 2005

Leon Žlajpah
Leon Žlajpah
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana (Slovenia) E-mail: leon.zlajpah@ijs.si
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Abstract

In the paper we address a problem of controlling an oscilmotion with a robot. As the object we have selected a yo-yo. First we have measured and analysed the motion of different yo-yos. We have developed a simplified model of a yo-yo which 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. Our results show, that for playing a yo-yo it is important to start the upward motion before the yo-yo reaches the bottom position and the acceleration has to be reversed after the bottom impact. We present two control strategies: one based on predefined hand motion pattern and and the other generating the hand motion on-line. Both allow playing the yo-yo at a selected top height. The theoretical results have been proven by experiments on a real robot system.

Keywords

Robotic yo-yoOscillating motionControl strategiesReal robot
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 211 - 220
Copyright
2005 Cambridge University Press

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