Generalized Pendulum Software

• Describe your pendulums and their linkage.

• Get the Euler-Lagrange equations of your system.

• Try it in the simulator.

Run the program:

   $ python model.py 

Description

This program uses the Lagrange equation of a two dimensional pendulum system to generate the Euler-Lagrange equation.

It also generates the Jacobian matrix of the generalized position. (Useful for external forces)

The simulator uses the basic equation of motion with a 4th order Runge-Kutta to reduce numerical error.

This software is ideal for beginners in physical simulation.

Dependencies

Sympy, Numpy and Matplotlib