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If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.

All mechanical systems exhibit friction and we learn about two broad classes of friction: linear and non-linear.

A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.