On the equivalence of Kane's equations and Gibbs' equations for multibody dynamics formulations (Q1094893)

The author considers the question of applicability of the differential equations of motion of the holonomic and nonholonomic dynamical systems recently introduced by Kane, and the well known Gibbs' differential equations, to the study of motion of the multi-body dynamical systems such as robots, mechanisms and biosystems. It is demonstrated that the Kane's equations are very feasible from the standpoint of the applicability to the computer analysis. The Gibbs' differential equations of motion, although equally applicable to the complex dynamical systems, are less advisable with respect to the computerized study of the motion.