http://www.robotbasics.com Robotics Guide and Articles Tue, 03 Jun 2008 15:24:40 +0000 http://backend.userland.com/rss092 en The robot’s transfer function (motor + linkages) continually changes due to the nonlinearities in the robot. * These nonlinearities include changing inertial loads, coupling between joints, changes in gravitational torque, gear backlash, shaft eccentricity, mass imbalance, inherent vibrations and friction. The transfer function of a robot joint/linkage system changes with configuration due to ... http://www.robotbasics.com/archives/19 If you want to digg more into robotics, here is some good books and resources: Robot Building for Beginners   http://www.robotbasics.com/archives/15