摘要: The paper deals with the formulation and thesolution of global dynamic problem for multibody systemsgenerally described by redundant coordinates (DAE equations) andwith a number actuators.Within dynamics systems two basic well-known problems have been investigated: solution direct dynamicsand inverse dynamics. Both these enableus to solve in each time instant relation between motiondescribed positions, velocities, accelerations actingforces. However, such solutions obtained isolated timeinstants do not provide us overview about thedynamic capabilities mechanical system, i.e. theaccessible motion accessible accessiblevelocities, required (given)forces. Thus, besides dynamical there isa third one: problem.The problem, generalmethods its specific methods itssolution robots manipulators are included.
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