RoManSy 6 pp 169-176 | Cite as

Dynamic Equations of General Robots Using Kane’s Method

  • Shang-xian Peng
  • Gang Wang


This paper presents a method for deriving and solving mathematical models for robot dynamics using Kane’s method. The advantages of the procedure that uses Newton’s laws are preserved in this kinematic analysis method. These dynamic equations can be used to solve the direct and inverse problems of robot dynamics and can be readily converted into computer codes for numerical calculation.


Dynamic Equation Inertial Moment Rotational Joint Robot Dynamic Partial Velocity 
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    M.Vukobratowid end V.Potkonjak, Dynamics of Manipulation Robots (1982)Google Scholar
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    R.Wane, Dynamics, Stanford University (1978)Google Scholar
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    H.L.Huston, Dynamics of Multi-rigid-body System, University of Cincinnati (1978)Google Scholar
  4. 4.
    M..W. Walker, Efficient Dynamic Computer simulation of Robotic Mechanisms, Journal of Dynamic Systems, Measurement and Control (1981)Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • Shang-xian Peng
    • 1
  • Gang Wang
    • 1
  1. 1.Tianjin UniversityChina

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