抄録
Sometimes we have a system that can be expressed basically by independent variables, with some redundant variable groups to decide only small parts of the system respectively. If the constraints of these redundant variables in each group are not coupled with each other, namely these are no common variables, we call them as local constraints. Examples of local constraints are Euler parameter constraint and constraint of link mechanism of car suspension. If the system has only local constraints, it is inefficient to use the typical DAE formulation, which handles all the constraints simultaneously. The technique we explain in this paper has advantage in calculation time and also in the sense constraint stabilization.This paper gives a basic idea of the technique and its general formulation. Also two examples are explained which we used to confirm the effectiveness of the technique. We got a good result of constraints stabilization.
