Kane’s Method for Robotic Arm Dynamics: a Novel Approach

摘要

ABSTRACT: This paper is the result of Analytical Research work in multi-body dynamics and desire to apply Kanes Method on the Robotic Dynamics. The Paper applies Kane’s method (originally called Lagrange form of d’Alembert’s principle) for developing dynamical equations of motion and then prepare a solution scheme for space Robotics arms. The implementation of this method on 2R Space Robotic Arm with Mat Lab Code is presented in this research paper. It is realized that the limitations and difficulties that are aroused in arm dynamics are eliminated with this novel Approach.