抄録
This study focuses on a yoyo operation called forward-pass trick by a robot arm as a part of approach to skill-full robots realizing human dexterity. Realization of forward-pass trick by the robot arm requires taking swing of the yoyo string into account. Hence a mathematical model including yoyo string swing is derived. The integrated model of the yoyo and the robot arms is also derived by Projection Method, and is used for design and calculation of the desired trajectory for the robot arm tip to follow it for throwing the yoyo. A PID-based servo controller is implemented to let the robot arm follow the trajectory. A robot arm is developed as the experimental system, and is used for verifycation of the proposed control system realizing the forward-pass trick.
