Typically it uses link-segment models to represent the mechanical behaviour of interconnected segments, such as the limbs of humans[1] or animals or the joint extensions of robots, where given the kinematics of the various parts, inverse dynamics derives the minimum forces and moments responsible for the individual movements.
[4] This solution calculates how each of the numerous electric motors that control a robot arm must move to produce a particular action.
Humans can perform very complicated and precise movements, such as controlling the tip of a fishing rod well enough to cast the bait accurately.
Until this discovery, they had not been able to work backwards to calculate the movements of the motors required to generate a particular complicated motion.
[citation needed] Bayo's work began with the application of frequency-domain methods to the inverse dynamics of single-link flexible robots.
[5] This approach yielded non-causal exact solutions due to the right-half plane zeros in the hub-torque-to-tip transfer functions.