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Double Pendulum Modeling

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This document describes modeling a double pendulum system using Lagrangian mechanics. It presents the equations of motion for a double pendulum, including expressions for kinetic energy, potential energy, Lagrangian, and the resulting force and moment equations. The force and moment equations are written in standard manipulator equation form with expressions for the inertia matrix H(q), centrifugal/Coriolis matrix C(q,q'), gravitational force vector G(q), and input matrix B(q).

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Double Pendulum Modeling

Uploaded by

bediyap
61 views3 pages
This document describes modeling a double pendulum system using Lagrangian mechanics. It presents the equations of motion for a double pendulum, including expressions for kinetic energy, potential energy, Lagrangian, and the resulting force and moment equations. The force and moment equations are written in standard manipulator equation form with expressions for the inertia matrix H(q), centrifugal/Coriolis matrix C(q,q'), gravitational force vector G(q), and input matrix B(q).

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© Attribution Non-Commercial (BY-NC)

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This document describes modeling a double pendulum system using Lagrangian mechanics. It presents the equations of motion for a double pendulum, including expressions for kinetic energy, potential energy, Lagrangian, and the resulting force and moment equations. The force and moment equations are written in standard manipulator equation form with expressions for the inertia matrix H(q), centrifugal/Coriolis matrix C(q,q'), gravitational force vector G(q), and input matrix B(q).

Copyright:

Attribution Non-Commercial (BY-NC)
Download as PDF, TXT or read online from Scribd
Download as pdf or txt
61 views3 pages

Double Pendulum Modeling

Uploaded by

bediyap
This document describes modeling a double pendulum system using Lagrangian mechanics. It presents the equations of motion for a double pendulum, including expressions for kinetic energy, potential energy, Lagrangian, and the resulting force and moment equations. The force and moment equations are written in standard manipulator equation form with expressions for the inertia matrix H(q), centrifugal/Coriolis matrix C(q,q'), gravitational force vector G(q), and input matrix B(q).

Copyright:

Attribution Non-Commercial (BY-NC)
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Download as pdf or txt
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Double Pendulum Modeling

Huei Ee YAP
Graduate School of Advanced Science and Engineering, Waseda University
55N-4F-10A, 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan
huei@shalab.phys.waseda.ac.jp

May 31, 2012

Force and Moment Equations

Figure 1: The schematic of double pendulum


l1 sin1
x1 =
l1 cos1


l1 cos1 1
x 1 =
l1 sin1 1


l2 sin(1 + 2 )
x2 = x1 +
l1 cos(1 + 2 )


l2 cos(1 + 2 )(1 + 2 )
x 2 = x 1 +
l2 sin(1 + 2 )(1 + 2 )

Kinetic energy and potential energy of system


1 T
1
x m1 x 1 + x T2 m2 x 2
2 1
2
1
1
= m1 (l1 cos1 1 )2 + m1 (l1 sin1 1 )2
2
2

2
1
+ m2 l1 cos1 1 + l2 cos(1 + 2 )(1 + 2 )
2

2
1
+ m2 l1 sin1 1 + l2 sin(1 + 2 )(1 + 2 )
2
1
1
= m1 l12 12 cos2 1 + m1 l12 12 sin2 1
2
2


1
+ m2 l12 cos2 1 12 + l22 cos2 (1 + 2 )(1 + 2 )2 + 2l1 l2 cos1 cos(1 + 2 )1 (1 + 2 )
2


1
+ m2 l12 sin2 1 12 + l22 sin2 (1 + 2 )(1 + 2 )2 + 2l1 l2 sin1 sin(1 + 2 )1 (1 + 2 )
2
1
1
1
= m1 l12 12 + m2 l12 12 + m2 l22 (1 + 2 )2 + m2 l1 l2 1 (1 + 2 )cos2
2
2
2
U = (m1 + m2 )gl1 cos1 m2 gl2 cos(1 + 2 )
T =

The Lagrangian of the system is hence


L=T U
1
1
= (m1 + m2 )l12 12 + m2 l22 (1 + 2 )2 + m2 l1 l2 1 (1 + 2 )cos2
2
2
+ (m1 + m2 )gl1 cos1 + m2 gl2 cos(1 + 2 )

L
= (m1 + m2 )l12 1 + m2 l22 (1 + 2 ) + 2m2 l1 l2 cos2 1 + m2 l1 l2 cos2 2
1
d L
= (m1 + m2 )l12 1 + m2 l22 (1 + 2 ) 2m2 l1 l2 sin2 1 2
dt 1
+ 2m2 l1 l2 cos2 1 m2 l1 l2 sin2 2 + m2 l1 l2 cos2 2
2

L
= (m1 + m2 )gl1 sin1 m2 gl2 sin(1 + 2 )
1
L
= m2 l22 (1 + 2 ) + m2 l1 l2 cos2 1
2
d L
= m2 l22 1 + m2 l22 2 m2 l1 l2 sin2 1 2 + m2 l1 l2 cos2 1
dt 2
L
= m2 l1 l2 1 (1 + 2 )sin2 m2 gl2 sin(1 + 2 )
2
The equations of motion is

(m1 + m2 )l12 + m2 l22 + 2m2 l1 l2 cos2 1 + (m2 l22 + m2 l1 l2 cos2 )2
2m2 l1 l2 sin2 1 2 m2 l1 l2 sin2 22 + (m1 + m2 )gl1 sin1 + m2 gl2 sin(1 + 2 ) = 1
(m2 l2 + m2 l1 l2 cos2 )1 + m2 l2 2 + m2 l1 l2 sin2 1 + m2 gl2 sin(1 + 2 ) = 2
2

Putting into standard manipulator equation:


q + G(q) = B(q)u
H(q)
q + C(q, q)
we have

H(q) =

=
C(q, q)

G(q) =

B(q) =

(m1 + m2 )l12 + m2 l22 + 2m2 l1 l2 cos2

m2 l22 + m2 l1 l2 cos2

m2 l22 + m2 l1 l2 cos2

m2 l22

2m2 l1 l2 sin2 2

m2 l1 l2 sin2 2

m2 l1 l2 sin2

(m1 + m2 )gl1 sin1 + m2 gl2 sin(1 + 2 )


m2 gl2 sin(1 + 2 )
1

where q = [1 , 2 ]T and u = [1 , 2 ]T

References

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