... initial posture using the power series method. The displaced kinematic variables can deviate from kinematic constraints because of numerical round off or when using a small number of power series terms or large time steps to achieve faster computation. The positional constraint violation may...

... solvable by power series. A single-loop kinematic chain may be expressed by a system of such differential equations subject to a linear constraint. A single matrix factorization followed by a sequence of substitutions of linear-system right-hand-side terms determines successive orders of the joint rate...