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The paper represents the flight-dynamic singlerotor helicopter mathematical model and describes its elements. The features of flight-dynamic single-rotor helicopter are given. We describes the math model applications and discuss the simulation results in conclusions.
The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic constraints. The authors propose an offline trajectory planning algorithm that provides a class of parametric trajectories to the unactuated joint in order to reach desired static configurations of the system...
Compact Lagrangian formulation of inverse dynamics of flexible arms and its recursive computation algorithm are presented. First, special moving coordinate systems are introduced in order to describe equations of motion in a compact form, which is suited for the formulation of inverse dynamics. Linearization and simplification of the equations of motion are discussed, and the validity and limit of...
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