The benefits of using dynamic models in the trajectory generation, planning, and control of industrial robots is a widely accepted notion within the robotics research community. Even if the models are not completely accurate, when available they can still be used to advantage, and offer superior performance over non-model-based methods. Yet with only a few exceptions, such dynamic model-based methods are not widely used in today's industrial robots. Why? Are there computational or other fundamental limits that prevent their effectiveness, or are purely kinematics-based methods sufficient for today's industrial robot applications? This workshop aims to explore these and other related questions, and to shed light on the gap between the state-of-the-art on dynamics-based methods for robot planning and control and the needs of the practitioner.