Humboldt-Universität zu Berlin - Mathematisch-Naturwissenschaftliche Fakultät - Institut für Mathematik

Preprint 2019-07

Diana Estévez Schwarz, René Lamour und Roswitha März


Singularities of the Robotic Arm DAE.


Abstract: One of the benchmarks for higher-index DAEs is the so-called robotic arm, which results from a tracking problem in robotics. Testing this benchmark, we became aware of the singularities that appear and started to analyze them thoroughly. To our knowledge, there is no comprehensive description of these singularities in the DAE literature so far. For our analysis, we use different methodologies, which are elaborated in this article. This detailed inspection results from two different index concepts, namely the projector based analysis of the derivative array and the pro- jector based DAE analysis. As a result, with both approaches we identify the same two types of singularities. One of them is obvious, but the other one is unexpected.


Preprint series: Institut für Mathematik, Humboldt-Universität zu Berlin (ISSN 0863-0976), 2019-05


30 pp.