This work demonstrates that the Karnopp-Margolis method for treating derivative causality in the bond graph produces a formulation that is equivalent to the classical Lagrange λ multipliers method for the modeling of planar mechanisms. It is then demonstrated that this formulation can be used to eliminate derivative causality in general. Furthermore, the method can be used as the basis for an algorithm which automates the derivation of the dynamic equations for nonlinear systems. It is also shown that the method can be used to treat the modeling of joint nonlinearities such as joint clearances and joint compliances.

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