2019-11-062019-11-062014DYNA (Colombia); Vol. 81, Núm. 185; pp. 41-470012-7353https://hdl.handle.net/20.500.12585/8761The dynamic model of a Four Control Moment Gyroscope (4-CMG) is traditionally obtained after computing the derivative of the angular momentum equation. Although this approach leads to a simple dynamic model, new models have been introduced due to terms not taken into account during the computation of the angular momentum equation. In this paper, a new dynamic model for a 4-CMG based on the Newton-Euler algorithm, which is well accepted in Robotics, was developed. This new approach produces a complete dynamic model. © The authors; licensee Universidad Nacional de Colombia.Recurso electrónicoapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/article10.15446/dyna.v81n185.35756ControlDynamicsGyroscopeModelinfo:eu-repo/semantics/openAccessAtribución-NoComercial 4.0 InternacionalUniversidad Tecnológica de BolívarRepositorio UTB