Developing a detailed model of a system with complex behavior is important to a model based control. This paper aims to develop a yoyo model which can accurately comprehend the yoyo behavior to realize highly yoyo operations by a robot arm. A motion equation of the yoyo, in which presence or absence of string tension is described by applying a spring-damper model, is derived. And then effectivity of the proposed model is verified by comparison between actual yoyo and simulation. As a result, the actual yoyo behavior can be adequately simulated by the proposed yoyo model. In conclusion, the yoyo model which can accurately comprehend the yoyo behavior was developed.

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