Recursive lnverse dynamics Outward Recursions- Kinematics Computation (i Angular velocity and acceleration swi-1+ei, if the ith joint is R (625a) w-1 if the ith joint is P Wi-1+wi-1 Biei +eiei, if the ith joint is R Wi-1, if the ith joint is P(6.25b) Expressed in(i+1) frame QT(wi-1+0iei), if the ith joint isR if the ith joint is P (626a) Q wi Qi-1+Wi-1 x e:+0,ei), if the ith joint isR Q-1 the讪 oint is103b Initial conditions o=0Recursive Inverse Dynamics • Outward Recursions - Kinematics Computation (i) Angular velocity and acceleration Expressed in (i+1) frame Initial conditions