Recursive lnverse dynamics Procedure Summary (2) Dynamic Computation(Inward) Known: Kinematic quantities of each link(from outward recursion) Compute: Joint wrench and external wrench NE WEE(EE, nEE)+Wn(fn, nn)-+Wnl(fn1, nn1)Recursive Inverse Dynamics • Procedure Summary (2) Dynamic Computation (Inward) Known: Kinematic quantities of each link (from outward recursion) Compute: Joint wrench and external wrench WEE (fEE, nEE) Wn (fn, nn) Wn-1 (fn-1, nn-1) … N.E