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Describe your pendulums and their linkage.
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Get the Euler-Lagrange equations of your system.
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Try it in the simulator.
Run the program:
$ python model.py
This program uses the Lagrange equation of a two dimensional pendulum system to generate the Euler-Lagrange equation.
It also generates the Jacobian matrix of the generalized position. (Useful for external forces)
The simulator uses the basic equation of motion with a 4th order Runge-Kutta to reduce numerical error.
This software is ideal for beginners in physical simulation.
Sympy, Numpy and Matplotlib