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We have never invented a perpetual motion machine and never will. A perpetual motion machine relies on the fact that we can get as much or more energy out of a machine than we put into it. However, this is in contradiction to the Second and First Law of Thermodynamics, respectively.

The First Law of Thermodynamics states that you can't get more out of a system than you can get in. This is along the lines of 'energy cannot be made, only transformed'.

The Second Law of Thermodynamics states that you can't be 100% efficient; some energy will always be lost to heat. An example uses Carnot (heat) engines; it would only be 100% efficient if we could reach absolute zero, which is impossible.

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