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This contribution focuses on the dynamical modeling and control of a self‐balancing bicycle. The bicycle is equipped with two flywheels rotating at constant speed mounted via a hinge that is actuated by an additional motor and allows for rotation about the vertical axis. Due to the balance of angular momentum, a torque is generated around the axis perpendicular to the hinge and spinning axis, i.e...
This paper discusses some dynamical aspects of a self‐balancing Inertia Wheel Cube (IWC). The acceleration and deceleration of actuated flywheels is used to stabilize the IWC when balancing on one of its corners, which is an unstable equilibrium position. The orientation as well as the rotational velocity of the device are measured by an inertial measurement unit (IMU). The equations of motions are...
Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot's end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is treated...
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