The usual classical dynamics problem is to find motions of a system due to forces acting on the system. However, inverse situation occurs when robot manipulator is to be designed, in which the objective is to find forces to maintain the known motions specified to perform required task of a system. Inverse dynamics covers this type of problems.
In this thesis, general equations of motion for the inverse dynamics are derived by Lagrange's variational approach. The Lagrange multipliers are utilized to find constraint forces and driving forces. A program named INDYANA, for three - dimensional inverse dynamics problem is developed and tested with practical examples.
