Control of robotic yoyo with energy compensation based on an integrated model of a robot and a yoyo

摘要

This paper presents an approach to control a periodic up-and-down yoyo motion with a robot arm which has a parallel link mechanism. For controlling it, an integrated model of the robot arm and the yoyo is developed which describes their mutual interference, and a controller which can compensate energy loss with the yoyo motion is designed based on the integrated model. The effectiveness of the proposed controller is verified through a numerical simulation. Its results show that the robot arm attains the continuous up-and-down yoyo motion and the trajectories of the rotation and the up-and-down motion are periodic. The proposed approach is effective in controlling the periodic up-and-down yoyo motion in conclusion.