Dynamic model error analysis of robot manipulators

The mechanical manipulator model-based controllers require knowledge of the full dynamic
model and accurate physical parameter values. However, this requirement can be
difficult to meet in practice. Some of these parameters may not be considered significant by
the designer and others are too complex to model. Accordingly, the purpose of this work
is to study'and analyze the behavior of the dynamic model errors of robot manipulators.
All of the formulations, techniques and discussions presented in this study are devoted to
general manipulators. They do not depend upon a specific manipulator configuration or
dimensions.