InverseDynamics Problem

Good morning,
I would kindly ask for a clarification regarding the solving of dynamic equilibrium equations.
Are such equations solved recursively (starting from a distal joint and going inward to the proximal joint) at each instant?

Thank you in advance!
Kind regards,

Hi @alicecaimi and welcome to the forum!

You can read more about the math behind the AnyBody Modeling System in the published litterature.
A good place to start is here:

Best regards,

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