How to describe a puppet show
A "puppet show" can be called 木偶戏, 木偶剧, 傀儡戲、人偶戲、or 人偶劇 . 

You can refer specifically to a puppeteer as 操纵木偶者 or simply (遮蔽)操纵者. But to refer to puppeteers in general, I feel that 操纵木偶的艺人(们) would be more appropriate.

So for your phrase, one way of saying it would be 我们去看了一个木偶戏/剧。操纵木偶的艺人们是从台湾来的。