Mathematical deficiencies of numerically simplified dynamic robot models

It is determined that the underlying deficiency of numerically simplified models is that they ignore classical mechanics and lead to models that do not characterize any realizable manipulator. It is shown that numerically simplified models can violate fundamental physical principles and destroy the structure of robot fundamental dynamics. The controller is then required to drive a nonsense mechanism through large corrective torques that can saturate the actuators. Robot dynamics and the associated nomenclature are reviewed. The need for simplified dynamic robot models and a systematic simplification procedure are discussed. A practical example is given