Mechanical Systems Design Handbook P20
We start our discussion on robot dynamics from the standpoint that successful design and control
of any system require appropriate knowledge of its behavior. This is certain, but we should discuss
what is meant by “appropriate knowledge.” Let us consider a robot as an example of a technical
system. Appropriate knowledge of its behavior may, but need not, include the mathematical model
of its dynamics. In the earlier phases of robotics development, design was not based on the exact
calculation of robot dynamics but followed experience from machine design....
