Robotica, ( ISI ), Volume (35), No (3), Year (2017-3) , Pages (498-510)

Title : ( A fresh insight into Kane's equations of motion )

Authors: Hossein Nejat Pishkenari , Seyed Abdolmajid Yousefsani ,

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With rapid development of methods for dynamic systems modeling, those with less computation effort are becoming increasingly attractive for different applications. This paper introduces a new form of Kane\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\'s equations expressed in the matrix notation. The proposed form can efficiently lead to equations of motion of multi-body dynamic systems particularly those exposed to large number of nonholonomic constraints. This approach can be used in a recursive manner resulting in governing equations with considerably less computational operations. In addition to classic equations of motion, an efficient matrix form of impulse Kane formulations is derived for systems exposed to impulsive forces.


, Dynamics; Kane method; Generalized speed; Multi, body system; Nonholonomic constraint; Impulse Kane formulation
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author = {Hossein Nejat Pishkenari and Yousefsani, Seyed Abdolmajid},
title = {A fresh insight into Kane's equations of motion},
journal = {Robotica},
year = {2017},
volume = {35},
number = {3},
month = {March},
issn = {0263-5747},
pages = {498--510},
numpages = {12},
keywords = {Dynamics; Kane method; Generalized speed; Multi-body system; Nonholonomic constraint; Impulse Kane formulation},


%0 Journal Article
%T A fresh insight into Kane's equations of motion
%A Hossein Nejat Pishkenari
%A Yousefsani, Seyed Abdolmajid
%J Robotica
%@ 0263-5747
%D 2017