Double Pendulum: Comparison between MapleSim, SimMechanics, & MATLAB ODE - 1st Trial

First Trial: The solution shown here is NOT correct.

Compare the solution of a double pendulum simulation obtained from:
1. MapleSim;
2. SimMechanics;
3. MATLAB Hand Code;

Red colored link is link #1, Blue colored link is link #2. Simulate the double pendulum motion under the effect of gravity for 10 seconds. Initial position: Theta 1 = 0 deg, Theta 2 = 45 deg.

Solutions from three methods are not the same in this first trial. Only the MapleSim solution is the correct one. SimMechanics solution is incorrect since it didn't use the correct theta 2 value - the output theta 2 value from SimMechanics is actually relative to theta 1 value - however it was used as relative to global frame in this plot. MATLAB Code solution is incorrect here due to a mistake in coding (human error). These two errors were corrected in the 2nd version of this study:
http://www.youtube.com/watch?v=neOn_NvpC_M

The following video plot the angular positions (Theta 1 and Theta 2) of the double pendulum from all three solutions:
http://www.youtube.com/watch?v=pwJ6OGmDrBk

The following video shows the errors (root mean square error) between MapleSim vs MATLAB Code, and SimMechanics vs. MATLAB Code solution (though the differences is in the magnitude of 1e-11 and 1e-14):
http://www.youtube.com/watch?v=EMea6wxxCH4

More info:
http://www.eng.buffalo.edu/~llee3
http://www.youtube.com/lengfenglee

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Category:

Education

Tags:

• Double
• Pendulum
• MATLAB
• MapleSim
• SimMechanics
• Simulation
• ODE
• solver
• ordinary
• differential
• equation
• numerical
• modeling