Derivation of Kane's dynamical equations for a three link (3R) manipulator

The authors present a derivation of the dynamical equations of Kane et al. (1982) for a three-link manipulator. An efficient formulation of equations of motion in an explicit form for a three-link manipulator based on Kane's method is developed. The computational efficiency of this method is compared to that of Lagrangian and Newton-Euler methods. Kane's method leads to fewer arithmetic operations than are required when either of the other two approaches are used. The method results directly in the development of first-order differential equations of motion having a simple form.<>