Inverse Dynamics Overview of Recursive Algorithm Inverse Dynamics: Known time history of joint position, rate and acceleration, compute joint torque Recursive algorithm: The problem is formulated as a recursive process in such a way that the computation can be proceed from one link to the next Z Kinematics Computation 0,0 ,,b,.0 Cc Dynamics ComputationY Z 1 1 1  , ,   2 2 2  , ,    n  n  n   , , … 1 1 c  ,  c  2 2 c  ,  c  3 3 c  ,  c  1 1 ω ,ω  2 2 ω ,ω  3 3 ω ,ω  Kinematics Computation Dynamics Computation f Inverse Dynamics • Overview of Recursive Algorithm Inverse Dynamics: Known time history of joint position, rate and acceleration, compute joint torque Recursive Algorithm: The problem is formulated as a recursive process in such a way that the computation can be proceed from one link to the next. X n