Robotics

摘要

This paper is a survey that is intended to give the reader an introduction to some issues and problems in the field of robotics today. The first section discusses industrial applications of robotics and the requirements they engender. A substantial section is included on robot programming, including programming languages, motion programming, and techniques. This is followed by a section on trajectory planning. Issues in both robot-level trajectory planning and task-level trajectory planning are discussed. The section on control is divided into three parts: controller objectives, the system model, and controller types. Very brief discussions of actuators, sensing, and end effectors are also included.