Energia Calorica

Annual Reviews in Control 30 (2006) 41–54 www.elsevier.com/locate/arcontrol

Mechatronics, robotics and components for automation and control IFAC milestone report
A. Ollero a,*, S. Boverie b, R. Goodall c, J. Sasiadek d, H. Erbe e, D. Zuehlke f
´ ´ Grupo de Robotica, Vision y Control, E.S. Ingenieros, Univ Sevilla, Camino de los Descubrimientos, Sevilla, Spain b Siemens Automotive, BP 1149,1, Ave. du Mirail, F-31036 Toulouse Cedex, France c El. Engineering Department, Loughborough University, Loughborough LE11 3TU, UK d Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel by Dr. Ottawa, Ont. K1S 5B6, Canada e Technische Univ. Berlin, Inst. F. Berufliche Bildung, Zentrum Mensch-Maschine-Systeme Sekr, FR 4-4, Franklinstrasse 28/29, D-10587 Berlin,Germany f Institute of Production Automation, University of Kaiserslautern, P.O. Box 3049, 67653 Kaiserslautern, Germany Received 8 July 2005; accepted 16 February 2006 Available online 13 July 2006
a

Abstract This paper is devoted to the analysis of the broad technological field of mechatronics, robotics and components for automation and control systems. Several sub-fields are considered: (i)components and instruments, involving sensors, actuators, embedded systems and communications; (ii) mechatronics concepts and technologies; (iii) robotics; (iv) human–machine systems, including technical issues and social implications; and (v) cost-oriented automation which is a multidisciplinary field involving theory, technologies and application as well as economical and social issues. First currentkey problems in this field are considered then, the accomplishment and trends are analysed. Finally, the forecast is presented to discuss issues relevant for future developments. # 2006 Elsevier Ltd. All rights reserved.
Keywords: Components for control; Mechatronic systems; Robotics; Cost oriented automation; Human–machine systems

1. Introduction Control technologies and applications haveexperienced highly significant developments in the last 10 years. These developments have been driven by progress in innovative sensors and actuators, and the increasing performance of computer systems, including embedded systems for control. In addition, recent developments of communication technologies have also led to novel distributed control technologies, including systems with wire and wirelesscommunications in the control loops and networked systems with multiple interconnected objects (see for example http://www.embedded-wisents.org/). The application domains are very large; including process control with very complex interconnected systems, factory automation as well as robotics, building automation, and transportation systems, which is today one of the most ‘‘pushing’’ domains.

*Corresponding author. Tel.: +34 95 455 6871; fax: +34 95 445 6849. E-mail address: aollero@cartuja.us.es (A. Ollero). 1367-5788/$ – see front matter # 2006 Elsevier Ltd. All rights reserved. doi:10.1016/j.arcontrol.2006.02.002

This paper pays significant attention to the field of components and instruments for control including sensors, actuators, embedded systems and communications. The paperalso devotes particular attention to mechatronic systems. For many years control engineers have been using sensors and electronic processing to enhance and/or alter the performance of mechanical systems, in many cases to provide a level of functionality that is not possible without the electronics. The sophistication which has more recently been possible through increasingly powerful processingdevices and heightened software skills has resulted in an increasing trend towards embedded mechatronic solutions involving a synergetic combination of mechanics, electronics, software and computing. This necessitates a multi-disciplinary understanding of the relevant scientific and engineering principles, and the individual knowledge of the mechatronic engineer must be sufficiently comprehensive to be...