| Robotics is the science and technology of robots, their | | | | information is processed to calculate the appropriate |
| design, manufacture, and application[4]. Robotics | | | | signals to the actuators (motors) which move the |
| requires a working knowledge of electronics, | | | | mechanical structure. The control of a robot involves |
| mechanics, and software. A a person working in the | | | | various aspects such as path planning, pattern |
| field is a roboticist. The word robotics was first used in | | | | recognition, obstacle avoidance, etc. More complex and |
| print by Isaac Asimov, in his science fiction short story | | | | adaptable control strategies can be referred to as |
| "Runaround" (1941). | | | | artificial intelligence. |
| Although the appearance and capabilities of robots | | | | Any task involves the motion of the robot. The study |
| vary vastly, all robots share the features of a | | | | of motion can be divided into kinematics and dynamics. |
| mechanical, movable structure under some form of | | | | Direct kinematics refers to the calculation of end |
| control. The structure of a robot is usually mostly | | | | effector position, orientation, velocity and acceleration |
| mechanical and can be called a kinematic chain (its | | | | when the corresponding joint values are known. |
| functionality being akin to the skeleton of a body). The | | | | Inverse kinematics refers to the opposite case in |
| chain is formed of links (its bones), actuators (its | | | | which required joint values are calculated for given end |
| muscles) and joints which can allow one or more | | | | effector values, as done in path planning. Some special |
| degrees of freedom. Most contemporary robots use | | | | aspects of kinematics include handling of redundancy |
| open serial chains in which each link connects the one | | | | (different possibilities of performing the same |
| before to the one after it. These robots are called | | | | movement), collision avoidance and singularity |
| serial robots and often resemble the human arm. | | | | avoidance. Once all relevant positions, velocities and |
| Some robots, such as the Stewart platform, use | | | | accelerations have been calculated using kinematics, |
| closed parallel kinematic chains. Other structures, such | | | | methods from the field of dynamics are used to study |
| as those that mimic the mechanical structure of | | | | the effect of forces upon these movements. Direct |
| humans, various animals and insects, are comparatively | | | | dynamics refers to the calculation of accelerations in |
| rare. However, the development and use of such | | | | the robot once the applied forces are known. Direct |
| structures in robots is an active area of research (e.g. | | | | dynamics is used in computer simulations of the robot. |
| biomechanics). Robots used as manipulators have an | | | | Inverse dynamics refers to the calculation of the |
| end effector mounted on the last link. This end | | | | actuator forces necessary to create a prescribed end |
| effector can be anything from a welding device to a | | | | effector acceleration. This information can be used to |
| mechanical hand used to manipulate the environment. | | | | improve the control algorithms of a robot. |
| The mechanical structure of a robot must be | | | | In each area mentioned above, researchers strive to |
| controlled to perform tasks. The control of a robot | | | | develop new concepts and strategies, improve existing |
| involves three distinct phases - perception, processing | | | | ones and improve the interaction between these |
| and action (robotic paradigms). Sensors give | | | | areas. To do this, criteria for "optimal" performance |
| information about the environment or the robot itself | | | | and ways to optimize design, structure and control of |
| (e.g. the position of its joints or its end effector). Using | | | | robots must be developed and implemented. |
| strategies from the field of control theory, this | | | | |