6.4 Inverse Dynamics of Kinematically Driven systems For dynamic system with only kinematic constraints Mi+D,九=2 nh×3nb 中，i=Y nh≤3nb If driving constraints are appended to the kinematic constraints ΦK Φ= =0,Φ：(3nb-nh)×1 3nb×3nb 1f西，g,≠0, such problem is an inverse dynamic problem6.4 Inverse Dynamics of Kinematically Driven systems        q Mq Q q q   T A If driving constraints are appended to the kinematic constraints For dynamic system with only kinematic constraints nh nb nh nb 3 3   q   : (3  ) 1        nb nh D D K     0, 3nb  3nb  q (q,t)  0,  q If such problem is an inverse dynamic problem