Should the gyroscopic effect of rotating tool be neglected?

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Should the gyroscopic effect of rotating tool be neglected?

One of the major aspects of mobile robots is their ability to operate directly on a object. By putting different types of tools we can adapt robot for special missions. Among many tools, few of them have high speed rotating mass. Can we move these types of tools during the operation? Is there any risk for robot to lose its set orientation or position? In this article we try to answer for this simple, nevertheless important question. By deriving a model of the industrial robot with rotating tool and adding additional torques on its TCP we show when and how the gyroscopic effect can affect the base of the robot