2DoF dynamics of a carousel via Euler-Lagrange equations: particular cases

Antonio Sala, UPV

Difficulty: *** ,       Relevance: ,      Duration: 13:15

Summary:

This video presents particular cases of the equations of motion of a merry-go-round carousel (with a single passenger) with two degrees of freedom, which were developed in the video [tiovEL].

In particular, the video discusses three situations:

• Zero Suspended Length

• 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.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.