MODELLING AND CONTROL STRATEGY OF ROBOTIC YO-YO(6)

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

h

˙¨tstart

t

τ

tend

Figure9:Handmotionpattern

a)desiredyo-yoandtophandheightaccelerations

andactualyo-yoheight

b)yo-yoheightheightandshouldhandbeaccelerationincreased

whentop

Figure10:Simulationofroboticyo-yo

CONCLUSION

Thisyopaperpresentsacontrolstrategyforplayingtaskwithrobot.foraahuman,robot.Although,itisanexactingplayingpieceyo-yoofworkisanaeasyyo-secondly,Firstonlytheofmotionall,notalloftheoftheyo-yostatesforacanmeasurablebecontrolledandstandbythemovingsystemthewefreehaveendanalysedofthestring.theyo-yoTomotion

under-andonethenwehavedevelopedamodel.Theproposedyo-yoDOFicandmodeliscapturesallimportantfeaturesofthenominalyo-yorobothandtwosuf cientthingsforcontroldesign.Forrobot-motionarepatternimportant:andtotoselectsuitablehavemotionwiththeyo-yo.Experimentssynchronizewithyo-yotheingbetheshownthatvisualfeedbackisessentialforplay-hasstartedyo-yo,cantobepredicted.beforebecausebottomthehandmotionupwardshouldWeimpactandhence,thetimetrolbeveri eddesign.controlledTheandproposedprovidediscusshowthetopheightcontrolsomeguidancemethodhasforcon-possiblebytoplaysimulationsyo-yowithandatherobot.resultsshowthatbeenitisREFERENCES

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