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November 15, 2012

Planar Kinematic Loop – An Example IV

In fact, Dymola doesn’t actually insert the ClosedLoop model.

It solves the problem in a different way:

At the place, where Dymola decides to break the loop, it uses an alternate set of equations, as formulated in the encapsulated equalityConstraint() function.

A residue vector is being introduced that effectively provides the additional degrees of freedom needed to get around the redundancy problem.

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