jnez71 / acrocart Goto Github PK

Do you have a quick and error-free way to move the equations of motion from sympy to numpy? I've been going through the derive_acrocart script and I'm a little confused. The potential energy equation shouldn't contain a term for the cart because it is fixed to the track. The kinetic energy equations also seem to be missing terms. Since each rod is rotating about the joints, the Parallel Axis Theorem says that the inertial term should either be I1 = (m1/3)*l1**2 or I1 = (m1/12)*l1**2 + m1*(l1/2)**2 .

I'd like to try the new equations of motion. But right now my method of replacing the equations in the dynamics file is pretty error prone.