Lagriangian Mechanics, Rectangle (2D)

[AlbertStevens]

Hi All,
I'm relatively new to physics and robotics, and have been getting my head around the subject. I'm currently reading the book Introduction to Robotics by John Craig.

Trying to write a simple simulation to test out some ideas to prove lagrangian dynamics...one such demo is a long thin 'Rectangle' in 2D.

So I have the angle and that's its reduced coordinates...similar to the inverted pendulum but using a solid rigid body instead of just a point mass.

Is there any good examples??...then extending it to a chain of joints with multiple angles?

Thanx for any help.

Albert :)

 

[eljose79]

Hi Albert,

It's great to hear that you are interested in exploring the connection between physics and robotics! John Craig's book is a great resource for understanding the fundamentals of robotics.

In terms of your simulation, there are a few examples that come to mind that could help you with your project. One example is the classic double pendulum problem, which involves two pendulums connected by a joint. This can be a good starting point for understanding the dynamics of multiple angles and joints.

Another example is the Furuta pendulum, which is a pendulum mounted on a rotating arm. This system can also help you explore the concepts of lagrangian dynamics and how they apply to real-world systems.

In terms of extending your simulation to a chain of joints with multiple angles, you can look into the concept of articulated robots. These are robots with multiple joints and links, and they are widely used in industrial applications. There are many resources available online that can help you understand the dynamics of articulated robots and how to simulate them.

I hope this helps and good luck with your project!