DAE Methods in Constrained Robotics System Simulation

Abstract

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 ta Constrained Robotics Systems have been studied, a complete characierization of singularities appearing in the madel are presented far a class of constrained robotic systems. Finally, the work is completed with a set of simulations in arder to validate numerically the thearetical developments.