A new approach to the numerical solution of constrained mechanical system dynamics

A novel approach to the numerical solution of the vector field associated with constrained mechanical systems, called the perturbation approach, is introduced. It is a specialization of a method of solving general vector fields due to Shampine. The perturbation approach has several advantages over other approaches. The performance of the approaches on a constrained robot problem is used to show the efficacy of the new approach.<<ETX>>

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