Discussion on Robotic Arms

I had a discussion on robotic arms with on of my engineer friends this morning. just as I suspected, I will have to take into consideration the dynamic movement of the arm with respect to the stability of the platform. I was hoping to get away with only having to consider the static case. I am concerned with the stability of the robot when moving and having the arm(s) move at the same time. This becomes very important as the number of independent movements increases - I was thinking of two independent arms on the future. So even before I begin, I need to concern myself with other problems along the way.