Robotics has grown strongly over the past years, fueled by rapid advances in sensor technology as well as in control and computer vision. A robot is basically an actuated mechanism programmable in two or more axes with a degree of autonomy, moving within its environment to perform intended tasks. The main task accomplished is to move an object, or move itself, according to the decisions of a high-level motion planner. Robotic mechanical systems are composed of several subsystems: mechanisms of connected rigid bodies, sensors, actuators, microprocessor-based controllers and information-processing parts.
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