Dynamic modeling and simulation of an underactuated system
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2017-06-13
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Abstract
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics
of an underactuated system, specifically a rotary inverted pendulum that will have two equations
of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which
based on the material and dimensions of the model provides some physical variables necessary
for modeling. In order to verify the results obtained, a comparison the CAD model simulated in
the environment SimMechanics of MATLAB software with the mathematical model who was
consisting of Euler-Lagrange's equations implemented in Simulink MATLAB, solved with the
ODE23tb method, included in the MATLAB libraries for the solution of systems of equations of
the type and order obtained. This article also has a topological analysis of pendulum trajectories
through a phase space diagram, which allows the identification of stable and unstable regions of
the system.