✦ LIBER ✦

Modelling of the motion of a disk rolling on a torus

✍ Scribed by Y. Yavin

Publisher: Elsevier Science
Year: 2002
Tongue: English
Weight: 417 KB
Volume: 36
Category: Article
ISSN: 0895-7177
DOI: 10.1016/s0895-7177(02)00230-3

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✦ Synopsis

This work deals with the modelling

of the motion of a disk rolling without slipping on a rigid torus.

It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment.

A mathematical model of the motion of the disk rolling on the torus is derived.

Then, it is shown that an inverse control transformation can be applied to linearize the system.

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