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This contribution focuses on the optimal trajectory planning for a Segway model (inverted pendulum on two independently actuated wheels). Basis for this planning is the dynamical model for this under‐actuated, non‐holonomic multibody system. For the stabilization as well as the trajectory control, a partial input/output linearization is performed, where the orientation of the robot w.r.t. the horizontal...
This paper deals with time optimal path tracking along prescribed geometric paths for robotic systems, like computerized numerical control (CNC) machines. These machines are typically controlled by a low cost microcontroller computational unit (MCU). Such MCUs are commonly used in industrial applications but are limited in view of computational performance. In many cases, these robotic systems have...
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...