Page 47 - Textos de Matemática Vol. 43
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PATH PLANNING FOR A DOUBLE PENDULUM USING NATURAL SPLINES. . . 35
Figure 1. Examples of geodesics on a torus for a) V0 = (0, 1), b) V0 = (1,0), c) V0 = (1,0.1)
q1 L1
q2
Figure 2. A scheme of the double pendulum 3. Double pendulum
A planar double pendulum is a simple, but nontrivial, example of a manipulator. The manipulator consists of two bars of lengths L1 and L2 connected to each other and to the base by rotational joints. A scheme of the manipulator is shown in Fig. 2. A state of the pendulum is defined by the angles of joints q = (q1, q2). The internal
L2
