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I have two scripts which implement method to model a wheeled
inverted pendulum, the first one implementing a Kanes method, the
second one with Lagrange.<br>
<br>
Using Kane, I obtain the right result into the "fr+frstar" variable,
but after linearization the matrices A and B are completely wrong.<br>
<br>
The same behavior seems to append with the Lagrange script, where
after the Lagrange Method the
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">"form_lagranges_equations()" output is correct but the generated matrices A and B not...</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">In my opinion the right matrices should be:</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A= np.matrix([
[0, 0, 1, 0],
[0, 0, 0, 1],
[((L_w*M_w+L_p*M_p)*g)/(L_w^2*M_w-J_w+J_p), 0, 0, 0],
[-((L_w*M_w+L_p*M_p)*g)/(L_w^2*M_w-J_w+J_p), 0, 0, 0]] )</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">B = np.matrix(
[0],
[0],
[-K_t/(L_w^2*M_w-J_w+J_p)],
[(K_t*L_w^2*M_w+J_p*K_t)/(J_w*L_w^2*M_w-J_w^2+J_p*J_w)]
)</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Both scripts are attached</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Thanks in advance</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Best regards</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roberto
</p>
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