Please use this identifier to cite or link to this item:
Title: Toward a dynamic model of robotic marionettes
Authors: 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.
Keywords: Dynamics
Robotic marionette
Issue Date: 2008
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.
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
ISBN: 9781424416769
DOI: 10.1109/RAMECH.2008.4681523
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.


checked on Feb 12, 2019

Page view(s)

checked on Feb 9, 2019

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.