Introduction

Abstract

From the earliest days, man has desired to create machines that would reflect on the human condition i.e. machines that would demonstrate autonomy, capacity for movement and that would learn and adapt to changing environmental conditions. For many centuries it was not possible for man to build machines and devices that would have at least some of these characteristics. It was not until the 20th century that the rapid development of knowledge in fields such as automatic control, computer science, electronics and manufacturing processes allowed for the construction of robots i.e. machines with complex mechanical structures supplied with appropriate control software that could perform certain tasks previously done by humans. Further progress continued in such areas as robotics and mechatronics i.e. disciplines that are concerned with the mechanics, design, control and operation of robots. Current development of science and technology challenges the scientific community to provide innovative engineering solutions and encourages undertaking research on optimal solutions for mechatronic systems which include, inter alia, wheeled mobile robots and robotic manipulators. The issues relating to mechatronics are of interdisciplinary nature and require the knowledge of multiple disciplines. In particular, wheeled mobile robots are nonlinear, nonholonomic mechatronic systems composed of interacting mechanical, electrical, electronic components and software.