An extension of Kane´s method for deriving equations of motion of flexible manipulators

Kane´s method, a powerful tool for deriving equations of motion of complex rigid-body systems, is extended to continuous flexible systems. Kane´s equations are derived using energy concepts and without introducing the Passerello-Huston equations. The result is an energy method for deriving equations of motion of complex nonholonomic systems. Since the derivation does not require the introduction of coordinate transformations, equations are in a simple form. The powerful technique in Kane´s method whereby generalized speeds are defined can also be applied