a machine with anthropomorphic actions that partially or completely performs human and sometimes animal functions in interaction with the environment. The term “robot” was first introduced by K. Čapek in his play R. U. R. (1920), in which mechanical people were called robots.
With the development of robot technology, three types of robots evolved: robots with a fixed program of actions, robots controlled by a human operator, and robots with artificial intelligence; those of the last type operate purposefully without human intervention. Most modern robots of all three types are robot-manipulators, although there are also other types, for example, information robots and walking robots. It is possible to combine robots of the first and second types in a single unit by dividing the robot’s functions over time. It is also possible for a man to work jointly with the third type of robot, with the man acting in a supervisory capacity. The first robots—androids that imitated the movements and had the external appearance of humans—were used primarily for entertainment. Since the 1930’s, in connection with the automation of production, automatic robots have been used in industry along with traditional means of automating production processes, particularly in small-lot production and in shops with harmful working conditions (see Figure 1).

Figure 1. Diagram of a robot-manipulator making a mechanical connection
An industrial robot-manipulator has one or several mechanical arms and a remote-control console or a built-in programmed control unit, or, more rarely, a computer. It can move objects weighing up to several tens of kilograms within the operating radius of its mechanical arms (up to 2 m) and can perform 200 to 1,000 movements an hour. Industrial robot-automatons are superior to the human being in speed and precision in performing uniform manual operations. The most common types of robots are robot-manipulators equipped with remote control and a mechanical arm mounted on a mobile or fixed base. The operator controls the movement of the arm while observing the arm either directly or on a television screen; in the latter case, the robot is equipped with a transmitting television camera. Robots are often provided with automatic learning systems. If such a robot is “shown” a sequence of operations, the control system records the sequence in the form of a control program and then exactly reproduces the sequence during work.
Robot-manipulators are used for work in relatively inaccessible places or under conditions that are dangerous or harmful for human beings, for example, in nuclear industry, where they have been used since the 1950’s. The 1960’s saw the appearance of various designs of robot-manipulators, used for a variety of purposes. They include controlled deepwater devices with mechanical arms used to obtain rock samples from the ocean floor, platforms that creep along the ocean floor carrying research equipment, and underwater bulldozers and drilling rigs.
In the late 1960’s there was a new trend in robot technology involving the development of decision-making robots. Such robots are equipped with sensors that receive information on the surroundings, a unit to process the information received (the artificial intelligence) consisting of a specialized computer with a set of programs, and actuating mechanisms (the motor system). The actions of decision-making robots have certain characteristics of human behavior. The sensors gather information about objects in the environment and about the properties and interactions of these objects. On the basis of these data, the artificial intelligence formulates a model of the environment and decides on the sequence of robot actions, which are carried out by the actuating mechanisms. By 1975 such decision-making robots had been tested in trial runs in industry.
REFERENCES
Chelovecheskie sposobnosti mashin. Moscow, 1971. (Translated from English.)
Kobrinskii, A. E. Votoni—roboty. Moscow, 1972.
Teoriia i ustroistvo manipuliatorov: Sb. st. Moscow, 1973.
Integral’nye roboty. Moscow, 1973. (Translated from English.)
Popov, E. P. Roboty-manipuliatory. Moscow, 1974.