Singularities of the Robotic Arm DAE

DOI10.1007/978-3-030-53905-4_14zbMath1471.70007OpenAlexW3092219876MaRDI QIDQ5132500

Roswitha März, Diana Estévez Schwarz, René Lamour

Publication date: 12 November 2020

Published in: Progress in Differential-Algebraic Equations II (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-030-53905-4_14

zbMATH Keywords

singularitydifferential-algebraic equationtractability indexderivative arrayDAEdifferentiation indexprojector based analysisrobotic arm problem

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Implicit ordinary differential equations, differential-algebraic equations (34A09) Robot dynamics and control of rigid bodies (70E60) Numerical methods for initial value problems involving ordinary differential equations (65L05) Numerical methods for differential-algebraic equations (65L80)

Related Items

Projected explicit and implicit Taylor series methods for DAEs

Uses Software

• Python
• InitDAE

Cites Work

• A new projector based decoupling of linear DAEs for monitoring singularities
• Differential-algebraic equations. A projector based analysis
• Solving high-index DAEs by Taylor series
• A new approach for computing consistent initial values and Taylor coefficients for DAEs using projector-based constrained optimization
• InitDAE: computation of consistent values, index determination and diagnosis of singularities of DAEs using automatic differentiation in Python
• General Nonlinear Differential Algebraic Equations and Tracking Problems: A Robotics Example
• Linear differential-algebraic equations with properly stated leading term:B-critical points
• Linear differential-algebraic equations with properly stated leading term:A-critical points
• Solvability of General Differential Algebraic Equations
• Unnamed Item
• Unnamed Item