https://github.com/dkoh2018/robotics
A physics-based simulation of a double pendulum using Euler-Lagrange equations and numerical integration. Solves for motion under applied torques
https://github.com/dkoh2018/robotics
langragian mechanics ode physics python robotics simulation
Last synced: 2 months ago
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A physics-based simulation of a double pendulum using Euler-Lagrange equations and numerical integration. Solves for motion under applied torques
- Host: GitHub
- URL: https://github.com/dkoh2018/robotics
- Owner: dkoh2018
- Created: 2024-07-09T05:37:54.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2025-03-03T05:52:57.000Z (over 1 year ago)
- Last Synced: 2025-03-19T07:17:29.993Z (over 1 year ago)
- Topics: langragian, mechanics, ode, physics, python, robotics, simulation
- Language: Jupyter Notebook
- Homepage:
- Size: 381 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Double Pendulum Simulation with Torques
This repository contains a **double pendulum simulation** using the **Euler-Lagrange method** for deriving equations of motion and **numerical integration** with `odeint`. It includes visualizations of **joint angles over time**.
- Uses **SymPy** to derive **Euler-Lagrange equations**.
- Numerically solves the system using **Scipy’s `odeint`**.
- Plots **joint angles over time** for analysis.
- Allows **custom torque inputs** for controlled motion.
## 🛠 Technologies Used
- **Python** (SymPy, NumPy, SciPy)
- **Matplotlib** (for visualization)
## 🚀 Installation
Clone the repository and install dependencies:
```bash
git clone https://github.com/dkoh2018/double_pendulum_simulation.git
cd double_pendulum_simulation
pip install -r requirements.txt
```
## ▶️ Usage
Run the simulation:
```bash
python simulation.py
```