Planar Double Pendulum

RK4 Coupled Lagrangian Dynamics • Rainbow Lower-Bob Trail

Simulation Controls

State & Kinematics

Status Running

Sim Time (t) 0.00 s

Upper Angle (θ₁) 120.0°

Lower Angle (θ₂) -10.0°

Angular Vel (ω₁, ω₂) 0.00, 0.00 rad/s

Trail Samples 1 / 650

Physical Parameters

Masses (m₁ = m₂) 1.00 kg

Lengths (L₁ = L₂) 1.00 m

Gravity (g) 9.81 m/s²

Initial (θ₁, θ₂) 120°, -10°

Initial (ω₁, ω₂) 0, 0 rad/s

Mechanical Energy

Kinetic (T) 0.000 J

Potential (V) 0.000 J

Total (E = T + V) 0.000 J

Angles are measured counter-clockwise from the downward vertical. Integrated with 4th-order Runge-Kutta (RK4) using 10 substeps per frame (Δt = 1/600 s) without artificial damping.