Beginnings of robotics as a separate discipline of technical sciences and some fundamental results - a personal view

Authors:
Miomir Vukobratovic
Affiliations:
Robotics Laboratory, Mihajlo Pupin Institute, Volgina 15, POB 15, 11060 Belgrade (Yugoslavia)
Venue:
Robotica
Year:
2002

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Abstract

Based on the author's knowledge the paper gives a brief account of some of the scientific achievements of robotics that were of crucial importance to its development.In a rough chronological order these are: zero-moment concept and semi-inverse method; recursive formulation of robot dynamics; computer-aided derivation of robot dynamics in symbolic form; dynamic approach to generation of trajectories of robotic manipulators; centralized feedforward control in robotics; robot dynamic control; decentralized control and observer applied to strongly coupled active mechanisms; force feedback in dynamic control of robots; decentralized control stability tests for robotic mechanisms; underactuated robotic systems; practical stability tests in robotics; unified approach to control laws synthesis for robot interacting with dynamic environment; modeling and control of multi-arm cooperating robots interacting with environment; connectionist algorithms for advanced learning control of robots interacting with dynamic environment; fuzzy logic robot control with model-based dynamic compensation, and internal redundancy – a new way to improve robot dynamic performance.