There are several libraries (such as CanVG) that simply turn SVG into Canvas drawing commands. They will not help you with the animation.
For animation you have to do it yourself. You can try using CanVG to draw the SVG on the canvas, as it animates using a timer to update the canvas, but this is extremely messy and cannot be done if the browser does not support SVG (and if so, why do you want to do this ?)
If you want to manipulate SVG in real time, you will have to stick with SVG. Otherwise, you need to roll all your own state and interactivity onto the canvas. There are no shortcuts there [1], sorry.
[1] Well, there are several libraries for interacting canvas objects that allow you to use SVG objects as your objects, such as fabric.js. But depending on what you want, this may not be enough.
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