DAE Methods in Constrained Robotics System Simulation

Abstract

IN THIS PAPER A DAE FORMULATION IS USED TO MODEL THE BEHAVIOR OF CONSTRAINED ROBOTIC SYSTEMS. THIS FORMULATION ALLOWS TO SPECIFY IN A EASY AND CLAER WAY THE CONSTRAINED BEHAVIOUR OF A ROBOTIC SYSTEM. IN ORDEN TO BETTER UNDERSTAND DAE SYSTEMS SOME KEY CONCEPTS IN ANALYTIC AND NUMERICAL SOLUTION OF DAE OF DAE ARE PRESENTED. ONCE DAE PROPERTIES AND ITS APLICATION TO CONSTRAINED ROBOTICS SYSTEMS HAVE BEEN STUDIED, A COMPLETE CHARACTERIZATION OF SINGULARITIES APPEARING IN THE MODEL ARE PRESENTED FOR A CLASS OF CONSTRAINED ROBOTIC SYSTEM. FINALLY, THE WORK IS COMPLETED WITH A SET OF SIMULATIONS IN ORDER TO VALIDATE NUMERICALLY THE THEORICAL DEVELOPMENTS.