[dutchkiwifruit]

Fusion 360 calculates things like moments of inertia and weight, and this was very helpful since the controller requires these parameters to convert control inputs to torques, for example. I still had to tune the controller gains, of course. (Which I did by hand.)

[syntaxing]

Is there anyway to tune the controller gains beforehand? Also if you don’t mind me asking, how much did everything cost you? This looks super fun and I’m debating to build one.

[dutchkiwifruit]

Bobrow’s research mentions a set of equations that can be used to derive the controller gains based on a set of dynamics-related parameters of the cube (like inertia, mass), but the results were unsatisfactory, so I tuned the gains by hand. But in theory, yes.

[FabHK]

The article lists a BOM of EUR 2500.