Inverse dynamics

<p>Inverse dynamics is an <a href="/facts/Inverse_problem/Fe01pQ9E">inverse problem</a>. It commonly refers to either inverse rigid body dynamics or inverse <a href="/facts/Structural_dynamics/xWUPczL6">structural dynamics</a>. Inverse <a href="/facts/Rigid-body_dynamics/ajbkweF2">rigid-body dynamics</a> is a method for computing forces and/or <a href="/facts/Moment_of_force/KcrcvNtV">moments of force</a> (torques) based on the <a href="/facts/Kinematics/o7mSyeJA">kinematics</a> (motion) of a body and the body's inertial properties (<a href="/facts/Mass/HHdc8XmF">mass</a> and <a href="/facts/Moment_of_inertia/TpLLAVl7">moment of inertia</a>). Typically it uses link-segment models to represent the mechanical behaviour of interconnected segments, such as the <a href="/facts/Limb_(anatomy)/AqasUdSC">limbs</a> of humans or animals or the joint extensions of <a href="/facts/Robot/S5mDzWYk">robots</a>, where given the kinematics of the various parts, inverse dynamics derives the minimum forces and moments responsible for the individual movements. In practice, inverse dynamics computes these internal moments and forces from measurements of the motion of limbs and external forces such as <a href="/facts/Ground_reaction_force/FkdGeAMy">ground reaction forces</a>, under a special set of assumptions.
</p>

Inverse dynamics open-in-new

Inverse dynamics