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|Title:||Toward a dynamic model of robotic marionettes|
|Citation:||Nguyen, K.D.,Lim, K.Y.,Dong, W.,Goh, Y.K.,Chen, I.-M.,Yeo, S.H.,Henry, B.-L.D.,Li, K.,Su, C.H. (2008). Toward a dynamic model of robotic marionettes. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 : 488-493. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2008.4681523|
|Abstract:||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. © 2008 IEEE.|
|Source Title:||2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008|
|Appears in Collections:||Staff Publications|
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