DAE Methods in Constrained Robotic System Simulation:

Abstract

In this paper a DAE formulation is used to model the behaviour of constrained robotic systems. This formulation allows to specify in an easy and clear way the constrained behaviour of a robotic system. In order to better understand DAE systems some key concepts in analytic and numerical solution of DAE are presented. Once DAE properties and its aplication to Constrained Robotic Systems have been studied, a complete characterization of singularities appearing in the model are presented for a class of constrained robotic systems. Finally, the work is completed with a set of simulations in order to validate numerically the theoretical developments.