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How important is it to know FK and IK mathematics when designing robotic arm

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matrixofdynamism

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Forward Kinematics (FK) is used to determine where the end effector will be in global space if the joins rotate by a known amount. The Inverse Kintematics (IK) are used to find out how much each joint should be rotated to move the end effector to a specific known point in global space.

How important is it to know this maths when designing a robotic arm? In other words, if a person is designing a small robotic arm, do they need to have a thorough understanding of this theory?
 

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