... developmentstage, examples of robotic mechanical systems in operation are the well-known six-axis industrial manipulators, six-degree-of-freedom flight simu-lators, walking machines, mechanical hands, ... engineering systems are con-trolled mechanical systems, and hence, we will focus on these. Moreover,a controlled mechanical system may be robotic or nonrobotic. The lat-ter are systems supplied ... mechanical systems, including robotic ones, is given inFig. 1.1. In that figure, we have drawn a dashed line between mechanical systems and other systems, both man-made and natural, in order to em-phasize...