Control of the motion of a disk rolling on a curve in R-3
This work deals with the control of the motion of a disk rolling without slipping on a helix. The disk's motion is driven by a pedalling torque and by using two overhead rotors. It is shown here that inverse dynamics control can be applied to control the kinematics of the system. (c) 2005 Elsevier Ltd. All rights reserved.
helix two overhead rotors inverse dynamics control control of a rolling disk nonholonomic constraints