Euler-Lagrange equations dynamics of carousel (2): lateral motion, spherical pendulum, partic. cases
Автор: Modeling, Identification, Control (A. Sala)
Загружено: 2025-05-16
Просмотров: 71
This video presents particular cases of the equations of motion of a merry-go-round carousel (with a single passenger cart) with two degrees of freedom, which were developed in the video • carousel (rotational pendulum): Euler-Lagr... .
In particular, the video discusses three particular situations:
-- Zero Suspended Length (solid with a ball at the tip)
-- Spherical pendulum (without top platform, load hanging from the center)
-- Analysis of lateral dynamics only (this is not actually a particular case, but simply studying one of the two equations of motion in isolation).
Motivated by the latter case, the final part of the video discusses the idea of the "computed torque" necessary for the top platform to follow a certain prescribed trajectory, used in dynamic control of robotic mechanisms.
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PDF/code/notes at: https://personales.upv.es/asala/YT/V/...
#mechanicalengineering #robotics #lagrangian
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Lectures by Antonio Sala, UPV
Full collection of videos at: https://personales.upv.es/asala/YT/in...
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