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