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