2020/09/28 by Fabio Bobrow, Bobrow, Fabio, Bruno Augusto Angélico +3
Engineering · #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2009.14626
openalex publication_date 2020/09/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.