ABSTRACT
By having explicit expressions for the generalized forces on a human body model we can readily obtain expressions for the governing dynamical equations. This can be accomplished by using Kane’s equations which are ideally suited for obtaining governing equations for large systems. If, in addition to the applied (active) and inertia (passive) forces, there are constraints and constraint forces imposed on the model, we can append constraint equations to the dynamical equations, and constraint forces in the equations themselves. In this chapter, the author explores and documents these concepts. He then moves on to discuss solution procedures. With the use of Euler parameters and generalized speeds as dependent variables, the equations may all be cast into first-order form, and thus are ideally suited for numerical integration.
