论文标题
Cubli：使用四元建模
The Cubli: Modeling Utilizing Quaternions
论文作者
论文摘要
本文执行了Cubli的建模，Cubli是一个位于正交面上的三个反应轮的立方体，当放置在其一个顶点之一中时，它变成了反应轮的3D倒摆。方法是新颖的是使用四元素代替欧拉角。季度的一个不错的优势，除了避免奇异性和三角函数的常规论点外，它允许通过手工使用向量符号来完全制定相当复杂的动态方程。使用Lagrange方程进行建模，并通过计算机模拟和Puinsot轨迹分析对其进行验证。
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.
