Co-simulation of Rigid Interactions Using Differential Algebraic Equations

In order for virtual commissioning to be applied in an industrial setting, it is required that the models used are predefined and standardized. These models also need to be able to protect intellectual property, so that systems containing such information also can be modeled and used. This paper presents and evaluates an alternative method for co-simulation, based on a differential algebraic equation (DAE) formulation. The method specifies how models should be created and used, such that sharing model information between interacting components can be avoided. The focus is specifically on co-simulation of rigidly interacting models, such as robots interacting with other mechanical components.