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An applied form of Kane's equations of motions of motions
Nejat Pishkenari, H ; Sharif University of Technology | 2005
223
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- Type of Document: Article
- Publisher: 2005
- Abstract:
- In this paper we have presented a new form of Kane's equations. This new form is expressed in the matrix form with the components of partial derivatives of linear and angular velocities relative to the generalized speeds and generalized coordinates. The number of obtained equations is equal to the number of degrees of freedom represented in a closed form. Also the equations can be rearranged to appear only one of the time derivatives of generalized speeds in each equation. This form is appropriate especially when one intends to derive equations recursively. Hence in addition to the simplicity, the amount of calculations is noticeably reduced and also can be used in a control unit. Copyright © 2005 by ASME
- Keywords:
- Control system analysis ; Degrees of freedom (mechanics) ; Matrix algebra ; Speed control ; Velocity control ; Angular velocities ; Generalized coordinates ; Generalized speeds ; Kane's equations ; Equations of motion
- Source: DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 24 September 2005 through 28 September 2005 ; Volume 6 C , 2005 , Pages 2103-2110 ; 0791847438 (ISBN)
- URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2005/47438/2103/317078?redirectedFrom=PDF