Ngeminyaka yawo-1970 kwaba nokuvela kwezinhlelo zokusebenza ezingokoqobo eziqhutshwa intuthuko kubuchwepheshe obuhlukahlukene, okudala amarobhothi afana nochungechunge lwe-PUMA namarobhothi e-SCRA. Izikhathi ezalandela zazihlanganisa ukwehla nokubuyiselwa kwemali, njengoba ukuthengiswa komhlaba wonke kukhule kusuka ku-2014 kuya ku-2018, futhi kulindeleke ukuthi kukhuphuke ngesilinganiso esingu-14% minyaka yonke kusukela ngo-2019 kuya ku-2021. Ukuthuthukiswa kwahluka emazweni ngamazwe: i-US ihole ekusebenzeni nobuchwepheshe obuhlakaniphile, iJapane kamuva yaba "umbuso wamarobhothi," iJalimane yazuza esiteji sokukhula kanye nembonini eqhutshwa yi-China 40. ucwaningo lwethiyori kanye nokuthuthukiswa kwe-prototype.
Mayelana nencazelo, ngenxa yentuthuko yezobuchwepheshe, incazelo yamarobhothi ezimboni ayikaqinisekiswa ngokuqinisekile, kodwa anezici ezine ezibalulekile: ukwakheka kwemishini ethile, ukuguquguquka, amazinga ahlukahlukene obuhlakani, nokuzimela. Izindlela zokuhlukanisa zihlukene: ngokusekelwe ezicini zokuxhumanisa, zingahlukaniswa zibe izixhumanisi zeCartesian, izixhumanisi zamacylindrical, njll.; ngokusekelwe ezindleleni zokulawula, zingahlukaniswa zibe -ezingezona izilawuli ze-servo kanye nezilawuli ze-servo; zingahlukaniswa futhi nge-topology, izinga lobuhlakani, uhlobo lokushayela, nomsebenzi, isigaba ngasinye sinezici zaso kanye nezimo ezisebenzayo.
Ngokuphathelene nezingxenye eziyisisekelo, irobhothi lezimboni linezingxenye ezintathu: umzimba werobhothi (i-manipulator, okuhlanganisa ingalo yerobhothi, amadivayisi okushayela nokudlulisa, nezinzwa), isilawuli nesistimu yokulawula, kanye nependant yokufundisa. Imingcele eyinhloko ihlanganisa amadigri enkululeko (okubonisa ukuguquguquka, ngokuvamile okungu-3-6), ukunemba kokubeka nokuphindaphinda (ukulinganisa ukunemba kwendawo), ukulungiswa (ibanga elincane lokuhamba ngokuhlanganyela noma i-engeli yokuzungeza), ububanzi bokusebenza (isethi yamaphoyinti afinyelelekayo ekugcineni), isivinini esiphezulu (esithinta ukusebenza kahle), kanye nomthamo wokulayisha (ubukhulu obukhulu obungamelana nakho ngesikhathi sokusebenza).
Okokugcina, kushiwo ukuthi amarobhothi ezimboni asetshenziswa kakhulu-ezimbonini eziningi zobuchwepheshe obuphezulu, futhi amathrendi entuthuko yesikhathi esizayo agxila ezicini ezine: ubuhlakani (ukuthuthukisa ukutholwa nokwahlulela imisebenzi), ukulawula okuhlanganyelwe (ukuthuthukisa{1}}umshini{2}}ukuhlanganiswa{2}}kwamadivayisi amaningi), ukumisa nokumodularization (ukunciphisa izindleko kanye nokuthuthukisa ukucushwa kwe-adaptha), kanye nokwenza ngcono ukusebenza kwe-adaptha).
