In this paper, a modular modeling approach of multibody systems adapted to interactive simulation is presented. This work is based on the study of the stability of two differential algebraic equation solvers. The first one is based on the acceleration-based augmented Lagrangian formulation and the second one on the Baumgarte formulation. We show that these two solvers give the same results and have to satisfy the same criteria to stabilize the algebraic constraint acceleration error. For a modular modeling approach, we propose to use the Baumgarte formulation and an iterative Uzawa algorithm to solve external constraint forces. This work is also the first step to validate the concept of two types of numerical components for object-oriented programming.
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