Lagrangian Mechanics — Double Pendulum
Parameters
L₁ arm length:
1.0
L₂ arm length:
1.0
m₁ mass:
1.0
m₂ mass:
1.0
g gravity:
9.8
θ₁ initial:
120°
θ₂ initial:
-20°
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State (generalized coords)
θ₁
—
θ₂
—
dθ₁/dt
—
dθ₂/dt
—
T (kinetic)
—
V (potential)
—
L = T - V
—
L = T - V
d/dt(∂L/∂θ̇) - ∂L/∂θ = 0