Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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The simplest and safest way is with a relay. This provides total isolation between your controller and the AC mains.
Also, a thyristor (triac) can turn on AC with a very small DC current source.The only snag is that is stays on until the AC goes to zero and resets the device.You might like that functionality, like a latch.http://www.technologystudent.com/elec1/thyris1.htm