← Library

2026-02-14

7 saved articles

  1. Dynamics - CartPole

    cartpole.robotics-lab.ru

    A cart with mass \(m_c\) moves along the \(x\)-axis, so its center \(C\) has coordinates \((x, 0)^T\). A pole with mass \(m_p\) is attached to the cart with a hinge at point \(C\), and rotates around with viscous friction. The pole's center of mass is at \(P\), moment of inertia is \(I_p\). The angle of rotation is denoted as \(\theta\), measured counterclockwise from the axis \(-y\). A force \(f_x\) is applied to the cart and the force of gravity \(g\) acts on the pole.