How can I apply?

I want to use this method 'Inverse Dynamics: Motion specified by Input and Automatically Computed Torque'. But I will apply to three different joint. Also my model i dynamic. All joints is affecting each others. Also after ı found the neccesity torque to needed position, how can I apply that?

[Birdman]

What do you mean, it is not clear. Be more specific.

[bayram özmen]

Iı have a dynamic model that have three different servo motor. And ı know the rotational degree of servo motor. and according to these degrees ı want to apply input joint block. actuall ı want to stay position that I want. so ı am planning to these methode in figure. But ı have three different position degree for each motors. Can I do this with using indirect inverse kinematic.

[Birdman]

You want to apply the necessary torque to keep the servos at a specific position? Is that what you want?

[bayram özmen]

Yes but ı dont know necessary torque value. ı know only position degrees.