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The Cubli: Modeling Utilizing Quaternions by Bobrow, Fabio; Angelico, Bruno A.; Martins, Flavius P. R. is a scholarly article available to read on EtoBox.

What is The Cubli: Modeling Utilizing Quaternions about?

This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The approach novelty is that quaternions are used instead of Euler angles. One nice advantage of quaternions, besides the usual arguments to avoid singularities and trigonometric functions, is that it allows working out quite complex dynamic equations completely by hand utilizing vector notation. Modeling is performed utilizing Lagrange equations and it is validated through computer simulations and Poinsot trajectories analysis.

Author

Bobrow, Fabio; Angelico, Bruno A.; Martins, Flavius P. R.

Published

2020

Language

EN