Modeling and control of robotic yo-yo with visual feedback

Yo-yo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down, by moving a string tied to it. Humans can play with a yo-yo without difficulty. However, developing a robot system that can play with a yo-yo presents a significant challenge to controller design, because the dynamics of the yo-yo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper present a model and a control scheme for robotic yo-yo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete dime formulation and the controller design