Modeling and Construction of a Furuta Pendulum Prototype

Abstract

In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software Solid Works and subsequently a prototype is built. Numerical simulations of the Furuta pendulum model are performed via Mat lab-Simulink. Furthermore, the Furuta pendulum prototype built is experimentally tested by using Mat lab-Simulink, Control Desk, and a DS1104 board from dSPACE.