Abstract
Rhonrad is a gymnastic equipment that is interesting in terms of dynamics and control. The control method of the Spiral motion by the mass motion in the Rhonrad was clarified. First, the condition for a steady Spiral motion with arbitrary mass position was obtained. Then, by using the linearized equation of motion, the control method to control the attitude of the Rhonrad by the mass motion in it was derived. This control method allows the state of the Rhonrad to be changed from one steady Spiral motion to another steady motion.
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