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dc.contributor.authorCosta Castelló, Ramon
dc.contributor.authorGriñó Cubero, Robert
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2009-12-18T11:10:05Z
dc.date.available2009-12-18T11:10:05Z
dc.date.created1998-03
dc.date.issued1998-03
dc.identifier.citationCosta, R.; Griñó, R.; Basañez, L. "DAE Methods in Constrained Robotic System Simulation". Computación y Sistemas, 1998, Vol. 1, No. 3, p. 145-160.
dc.identifier.issn1405-5546
dc.identifier.urihttp://hdl.handle.net/2117/6100
dc.description.abstractIn 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.
dc.format.extent16 p.
dc.language.isoeng
dc.publisherCentro de Investigación en Computación
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherConstrained robotics
dc.subject.otherSingularities
dc.subject.otherDynamics
dc.subject.otherKinematics
dc.subject.otherSimulation
dc.subject.otherSimulación
dc.subject.otherSimulació
dc.subject.otherCinemática
dc.subject.otherCinemàtica
dc.subject.otherDinámica
dc.subject.otherDinàmica
dc.subject.otherSingularidades
dc.subject.otherSingularitats
dc.titleDAE Methods in Constrained Robotic System Simulation:
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Cybernetics
dc.relation.publisherversionhttp://www.ejournal.unam.mx/cys/vol01-03/CYS01303.pdf
dc.rights.accessOpen Access
local.personalitzacitaciotrue


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