Patent Document ID: 7904280
Application ID: 10414811
Patent Flag: 1

Claim One:
1. A computer-implemented method comprising: generating and storing a modular graphical representation of a physical system using one or more graphical modules and one or more variables, the generating including: representing one or more portions of the physical system using the one or more graphical modules, representing one or more parameters of the physical system using the one or more variables, and defining a connection topology between the one or more graphical modules in the modular graphical representation of the physical system, the connection topology including one or more motion drivers to move one or more joints and/or one or more constraints with one or more known time trajectories; generating code according to the modular graphical representation, the code suitable to be compiled into a machine code that is executed on hardware to: simulate the physical system in real time, detect an inconsistent motion of one or more motion drivers before initiating the simulation of the physical system using QR decomposition as an orthogonal matrix triangularization, identify the one or more motion drivers that cause the inconsistent motion, and solve inconsistency resulting from the inconsistent motion of the one or more motion drivers before initiating the simulation of the physical system by redefining motions of the one or more motion drivers such that the motions are consistent, the code containing instructions to cause the hardware to solve a system of differential algebraic equations (DAEs); storing the generated code; compiling the generated code into the machine code; and executing the machine code to solve the system of DAEs.