Title :
Kane´s equations or Jourdain´s principle?
Author :
Piedboeuf, J.-C.
Author_Institution :
Dept. of Mech. Eng., R. Mil. Coll. of Canada, Kingston, Ont.
Abstract :
This paper discusses the relationships between Kane´s equations and Jourdain´s principle. In 1961 Kane published a paper: “Dynamics of Nonholonomic Systems”. The method detailed in that paper, since named Kane´s equations, has been popular in the modelling of mechanical systems especially in robotics. It was often stated that Kane´s equations were a novel way of modelling. However, in 1909, Jourdain published a paper titled “Note on an analogue of Gauss´ principle of least constraint” where he established the principle of virtual power that is equivalent to Kane´s equations
Keywords :
modelling; robot dynamics; Gauss´ principle; Jourdain´s principle; Kane´s equations; least constraint; mechanical systems modelling; nonholonomic systems; robotics; virtual power; Differential equations; Educational institutions; Gaussian processes; Jacobian matrices; Lagrangian functions; Mechanical engineering; Mechanical systems; Power system modeling; Robot kinematics; Terminology;
Conference_Titel :
Circuits and Systems, 1993., Proceedings of the 36th Midwest Symposium on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-1760-2
DOI :
10.1109/MWSCAS.1993.343389