Publication
Minimal Coordinate Dynamic Simulation Through Singularities
Rohit Kumar; Shivesh Kumar; Frank Kirchner
In: Proceedings of the 20th International Symposium on Advances in Robot Kinematics. International Symposium on Advances in Robot Kinematics (ARK-2026), June 28 - July 2, Barcelona, Spain, Springer, 7/2026.
Abstract
Minimal coordinate formulations generally outperform redundant coordinate approaches for dynamic simulation of multibody
systems with kinematic loop-closure constraints. However, they typically require explicit analytical resolution of these constraints, which are not
always available. The generalized coordinate partitioning (GCP) method circumvents this limitation by converting easily obtained implicit constraints into explicit ones based on a chosen set of minimal coordinates.
Despite its advantages, GCP suffers from singularity issues near critical configurations. This paper presents a minimal-coordinate dynamic
formulation for a four-bar mechanism that robustly traverses such singularities by leveraging kinematic tangent cones at singular configurations.