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Previously robots were mainly used by big companies in high volume manufacturing (i.e. car industry). Industrial robots were perfect to execute  procedures simplified to tiny (angular) movements. Today robots have appeared in small and medium enterprises, thus the efficiency of robot programming methods must be improved in order to avoid losses caused by frequent switches  in small scale production.

So there is an increasing need to make the training of robots more automatized and at the same time to make them be able to fulfill more and more sophisticated tasks. For robots in our daily life it is not enough to execute a pre-programmed action line. They must be able to adopt themselves to changing environment, make their own decisions and in addition, they have to socially fit into the human environment. This requires a more sophisticated robot control.