Python code of the solution of the Robotic Arm Problem
(see D. Estévez Schwarz, R. Lamour, R. März Singularities of the Robotic Arm DAE, DAE-Forum 2019)
 
Solution of  DAE (see Campbell 88, Campbell, Griepentrog 95) (DAE differs by one sign from the original DeLuca, Isidori 85)
 
Solution of DAE (see Campbell, Kunkel 2019) (Consistent with DeLuca, Isidori 85 for parameters which lead to the Ca88-DAE)