November 15, 2012
Planar Kinematic Loop – An Example IV
In fact, Dymola doesn’t actually insert the ClosedLoop
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.