section_path: Control robotics areas/Manipulation
section_name: Manipulation
paragraph_text: Manipulation
  
  A definition of robotic manipulation has been provided by Matt Mason as: "manipulation refers to an agent's control of its environment through selective contact".
  
  Robots need to manipulate objects; pick up, modify, destroy, move or otherwise have an effect. Thus the functional end of a robot arm intended to make the effect (whether a hand, or tool) are often referred to as end effectors, while the "arm" is referred to as a manipulator. Most robot arms have replaceable end-effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator that cannot be replaced, while a few have one very general-purpose manipulator, for example, a humanoid hand.