Recursive Kane formulation for deriving the equations of motion a chain of robotic arms

In this paper a new systematic method to derive the equation of motion of n-rigid robotic manipulators with revolute joints is considered. The equation of motion for this robotic system is obtained based on Kane formulation. Based on the developed formulation, an algorithm is proposed that recursively and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three revolute joints is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic systems.