Yoyo otion Planning Using Inversion-based Optimization

摘要：

This paper presents a novel approach for control of the yoyo playing, using return map parameterization The return map is a scalar function that maps the initial amplitude of the yoyo and the parameter (an intermediate state of the yoyo) to the final amplitude. The optimization programs can be combined with a standard one-degree zero-finding routine to search for an appropriate value of the parameter, such that the final amplitude equals a desired value. The proposed novel algorithm use inversion-based optimization technique for fast solution of the optimization problem, which can greatly reduce the computation time. Simulation on a single yoyo cycle shows the required computation time is about 10 milliseconds, so the software may be applicable to real-time control. The approach is promising as it may be extended to control of other similar systems.

作者: De-hu Yuan Hui-Liang Jin

作者单位: School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,P.R.China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2183-2187

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）