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ORGIN Stories of artificial helpers and companions likewise attempts to create them have a long history, but fully autonomous machines only appeared in the 20th century. The first digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Today, commercial and industrial robots are in widespread use performing jobs cheaper or more accurately and reliably than humans. They are also employed for jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots are widely used in manufacturing, assembly, and packing; transport; earth and space exploration; surgery; weaponry; laboratory research; safety; and mass production of consumer and industrial goods.[3] According to the Oxford English Dictionary, the word robotics was first used in print by Isaac Asimov, in his science fiction short story "Liar!", published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots. However, in some of Asimov's other works, he states that the first use of the word robotics was in his short story Runaround (Astounding Science Fiction, March 1942).[8][9] The word robotics was derived from the word robot, which was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), which premiered in 1921.[10]




STRUCTURE The structure of a robot is usually mostly mechanical and can be called a kinematic chain (its functionality being similar to the skeleton of the human body). The chain is formed of links (its bones), actuators (its muscles), and joints which can allow one or more degrees of freedom. Most contemporary robots use open serial chains in which each link connects the one before to the one after it. These robots are called serial robots and often resemble the human arm. Some robots, such as the Stewart platform, use a closed parallel kinematical chain. Other structures, such as those that mimic the mechanical structure of humans, various animals, and insects, are comparatively rare. However, the development and use of such structures in robots is an active area of research (e.g. biomechanics).


ENVIRONMENTAL INTERACTION RADAR, GPS, LIDAR, ... are all combined to provide proper navigation and obstacle avoidance This section does not cite any references or sources.Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. (July 2009) Though a significant percentage of robots in commission today are either human controlled, or operate in a static environment, there is an increasing interest in robots that can operate autonomously in a dynamic environment. These robots require some combination of navigation hardware and software in order to traverse their environment. In particular unforeseen events (eg. people and other obstacles that are not stationary) can cause problems or collisions. Some highly advanced robots as ASIMO, EveR-1, Meinü robot have particularly good robot navigation hardware and software. Also, self-controlled cars, Ernst Dickmanns' driverless car, and the entries in the DARPA Grand Challenge, are capable of sensing the environment well and subsequently making navigational decisions based on this information. Most of these robots employ a GPS navigation device with waypoints, along with radar, sometimes combined with other sensory data such as LIDAR, video cameras, and inertial guidance systems for better




DYNAMICS AND KINEMATICS The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effector position, orientation, velocity, and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy (different possibilities of performing the same movement), collision avoidance, and singularity avoidance. Once all relevant positions, velocities, and accelerations have been calculated using kinematics, methods from the field of dynamics are used to study the effect of forces upon these movements. Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end effector acceleration. This information can be used to improve the control algorithms of a robot. In each area mentioned above, researchers strive to develop new concepts and strategies, improve existing ones, and improve the interaction between these areas. To do this, criteria for "optimal" performance and ways to optimize design, structure, and control of robots must be developed and implemented.


ROBOT RESEARCH TOPIO, a robot developed by TOSY that can play ping-pong.[67] Further information: Open-source robotics and Evolutionary robotics Much of the research in robotics focuses not on specific industrial tasks, but on investigations into new types of robots, alternative ways to think about or design robots, and new ways to manufacture them but other investigations, such as MIT's cyberflora project, are almost wholly academic. A first particular new innovation in robot design is the opensourcing of robot-projects. To describe the level of advancement of a robot, the term "Generation Robots" can be used. This term is coined by Professor Hans Moravec, Principal Research Scientist at the Carnegie Mellon University Robotics Institute in describing the near future evolution of robot technology. First, second and third generation robots are First generation robots, Moravec predicted in 1997, should have an intellectual capacity comparable to perhaps a lizard and should become available by 2010. Because the first generation robot would be incapable of learning, however, Moravec predicts that the second generation robot would be an improvement over the first and become available by 2020, with an intelligence maybe comparable to that of a mouse. The third generation robot should have an intelligence comparable to that of a monkey. Though fourth generation robots, robots with human intelligence, professor Moravec predicts, would become possible, he does not predict this happening before around 2040 or 2050.[68]


REFERENCE K. S. Fu & R.C. Gonzalez & C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence (CAD/CAM, robotics, and computer vision) C.S.G. Lee & R.C. Gonzalez & K.S. Fu, Tutorial on robotics “SP200 With Open Control Center. Robotic Prescription Dispensing System”. Available from Interent; accessed November 22, 2008. “McKesson Empowering HealthCare. Robot RX”. Available from Internet; accessed November 22, 2008. “Aethon. You Deliver the Care. TUG Delivers the Rest”. Available from Internet; accessed November 22, 2008.[dead link] Marco Ceccarelli, "Fundamentals of Mechanics of Robotic Manipulators