Exercises with a Triple Pendulum

This video features transitions between the equilibria of a triple pendulum and a limit cycle control. The controller was designed by the Control Engineering Group at the TU Ilmenau and is documented in B. Jahn, L. Watermann, and J. Reger. On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation. Automatica, Vol. 125, March 2021, 109403.
doi.org/10.1016/j.automatica....
An exemplary python code is available here: colab.research.google.com/dri...
For further information visit www.tu-ilmenau.de/regelungste... or contact [e-mail]
Music: "Unpleasant Situation" by Adex (CC BY-SA 3.0)

[@crackwitz]

That's smooth. Now do a quadruple!

[@SuperElephant]

Describing this as an Amazing engineered mechanism would be an absolute understatement.

[@Bengraziano]

How are the encoders in the arms communicating with the base if the arms can rotate freely?

[@arctwosix4331]

That's soooo damned impresssive.. only 53k views too... this is viral kind of material... phwooooar... i thought this kind of physics was bornerline unimaginable.

[@MV-vv7sg]

Brilliant stuff. What could be some industry / real life applications of this sort of control precision?

[@neerajmishra9378]

Angles measured at joints are w.r.t ground frame or in moving frame....? For control

[@user-ki3te9ep4c]

Hello, can you tell me whether the speed mode used is pv mode or csv mode

[@nick066hu]

Fascinating for me, but not a single friend to share this video with who could appreciate and understand the smartness in it. ☹

[@theometzger7581]

Is there 3 sensors for measuring angular positions of each bar ?

[@berndfachinger6000]

...

[@stroopwafelfalafel]

This is insane. Positively stupid. How in the world to you even begin to work on something like this.

[@Rafal_BreV]

O jaciężciep%?%%!@ę... miałem takie na laborce, ale pojedyncze, nie potrójne. W zasadzie, to byłem przekonany (jak widać niesłusznie), że to nawet teoretycznie, matematycznie jest nie do ogarnięcia dla trzech przegubów. Szacun dla programisty w chuj.

[@youramazingvulptexwife4180]

And then it had to show off it's robot-y skills with that pendulum spin. I KNOW I'M JUST A HUMAN, HAROLD. I'll bow down to your robot overlords, okay?

[@RS-ls7mm]

Link is broken for the pendulum. Would be interesting to see the code.

[@yashsvidixit7169]

This is insanely cool.

[@tilmanseel]

Chapo

[@walther2492]

nice

[@scattergun]

Those pendulums are cooler than any circus act

[@dabyd64]

Amazing, I can feel the pain behind the success: endless hours modelling, programming, calibrating... Just wow

[@jessicastrat9376]

You’d think they’d have the knowhow to place the camera on the unobstructed side