Pendulum Models
Pendulum-based models and simulations that serve as simplified analogs for understanding golf swing dynamics. These models provide insights into control-affine systems, drift-input decomposition, and the fundamental physics of underactuated multibody systems.
Model Types
Single Pendulum Models
Simple pendulum models with various actuation schemes, including torque at the pivot and control inputs along the pendulum length. These models illustrate basic concepts in control-affine systems and drift dynamics.
Double Pendulum Models
Double pendulum (two-link) models that more closely approximate the complexity of golf swing dynamics. Includes models with different actuation configurations and analysis of drift components and wrench dynamics.
Multi-Link Pendulum Models
Extended pendulum models with three or more links, providing increasingly complex analogs for understanding the full golfer-club system dynamics.
Pendulum with Flexible Elements
Pendulum models incorporating flexible elements, such as a flexible shaft, to model the dynamics of golf clubs with significant shaft deformation.
Source Code & Repository
UpstreamDrift Repository(opens in a new tab)
Pendulum models (single, double, and flexible-shaft configurations) and analytical derivations are included in the UpstreamDrift codebase:
git clone https://github.com/D-sorganization/UpstreamDrift.git