智能语音识别机器人文献翻译

第一篇：智能语音识别机器人文献翻译

改进型智能机器人的语音识别方法

2、语音识别概述

最近，由于其重大的理论意义和实用价值，语音识别已经受到越来越多的关注。到现在为止，多数的语音识别是基于传统的线性系统理论，例如隐马尔可夫模型和动态时间规整技术。随着语音识别的深度研究，研究者发现，语音信号是一个复杂的非线性过程，如果语音识别研究想要获得突破，那么就必须引进非线性系统理论方法。最近，随着非线性系统理论的发展，如人工神经网络，混沌与分形，可能应用这些理论到语音识别中。因此，本文的研究是在神经网络和混沌与分形理论的基础上介绍了语音识别的过程。

语音识别可以划分为独立发声式和非独立发声式两种。非独立发声式是指发音模式是由单个人来进行训练，其对训练人命令的识别速度很快，但它对与其他人的指令识别速度很慢，或者不能识别。独立发声式是指其发音模式是由不同年龄，不同性别，不同地域的人来进行训练，它能识别一个群体的指令。一般地，由于用户不需要操作训练，独立发声式系统得到了更广泛的应用。所以，在独立发声式系统中，从语音信号中提取语音特征是语音识别系统的一个基本问题。

语音识别包括训练和识别，我们可以把它看做一种模式化的识别任务。通常地，语音信号可以看作为一段通过隐马尔可夫模型来表征的时间序列。通过这些特征提取，语音信号被转化为特征向量并把它作为一种意见，在训练程序中，这些意见将反馈到HMM的模型参数估计中。这些参数包括意见和他们响应状态所对应的概率密度函数，状态间的转移概率，等等。经过参数估计以后，这个已训练模式就可以应用到识别任务当中。输入信号将会被确认为造成词，其精确度是可以评估的。整个过程如图一所示。

图1 语音识别系统的模块图

3、理论与方法

从语音信号中进行独立扬声器的特征提取是语音识别系统中的一个基本问题。解决这个问题的最流行方法是应用线性预测倒谱系数和Mel频率倒谱系数。这两种方法都是基于一种假设的线形程序，该假设认为说话者所拥有的语音特性是由于声道共振造成的。这些信号特征构成了语音信号最基本的光谱结构。然而，在语音信号中，这些非线形信息不容易被当前的特征提取逻辑方法所提取，所以我们使用分型维数来测量非线形语音扰动。

本文利用传统的LPCC和非线性多尺度分形维数特征提取研究并实现语音识别系统。

3.1线性预测倒谱系数

线性预测系数是一个我们在做语音的线形预分析时得到的参数，它是关于毗邻语音样本间特征联系的参数。线形预分析正式基于以下几个概念建立起来的，即一个语音样本可以通过一些以前的样本的线形组合来快速地估计，根据真实语音样本在确切的分析框架（短时间内的）和预测样本之间的差别的最小平方原则，最后会确认出唯一的一组预测系数。

LPC可以用来估计语音信号的倒谱。在语音信号的短时倒谱分析中，这是一种特殊的处理方法。信道模型的系统函数可以通过如下的线形预分析来得到：

其中p代表线形预测命令，（k=1，2，„ „，p）代表预测参数，脉冲响应用

。那么（1）式可以扩展为（2）式： h(n)来表示，假设h（n）的倒谱是

将（1）带入（2），两边同时，（2）变成（3）。

就获得了方程（4）：

那么 可以通过

来获得。

（5）中计算的倒谱系数叫做LPCC，n代表LPCC命令。

在我们采集LPCC参数以前，我们应该对语音信号进行预加重，帧处理，加工和终端窗口检测等，所以，中文命令字“前进”的端点检测如图2所示，接下来，断点检测后的中文命令字“前进”语音波形和LPCC的参数波形如图3所示。

图2 中文命令字“前进”的端点检测

图3 断点检测后的中文命令字“前进”语音波形和LPCC的参数波形

3.2 语音分形维数计算

分形维数是一个与分形的规模与数量相关的定值，也是对自我的结构相似性的测量。分形分维测量是[6-7]。从测量的角度来看，分形维数从整数扩展到了分数，打破了一般集拓扑学方面被整数分形维数的限制，分数大多是在欧几里得几何尺寸的延伸。

有许多关于分形维数的定义，例如相似维度，豪斯多夫维度，信息维度，相关维度，容积维度，计盒维度等等，其中，豪斯多夫维度是最古老同时也是最重要的，它的定义如【3】所示：

其中，表示需要多少个单位来覆盖子集F.端点检测后，中文命令词“向前”的语音波形和分形维数波形如图4所示。

图4 端点检测后，中文命令词“向前”的语音波形和分形维数波形

3.3 改进的特征提取方法

考虑到LPCC语音信号和分形维数在表达上各自的优点，我们把它们二者混合到信号的特取中，即分形维数表表征语音时间波形图的自相似性，周期性，随机性，同时，LPCC特性在高语音质量和高识别速度上做得很好。

由于人工神经网络的非线性，自适应性，强大的自学能力这些明显的优点，它的优良分类和输入输出响应能力都使它非常适合解决语音识别问题。

由于人工神经网络的输入码的数量是固定的，因此，现在是进行正规化的特征参数输入到前神经网络[9]，在我们的实验中，LPCC和每个样本的分形维数需要分别地通过时间规整化的网络，LPCC是一个4帧数据（LPCC1,LPCC2,LPCC3,LPCC4，每个参数都是14维的），分形维数被模范化为12维数据，（FD1,FD2,„FD12，每一个参数都是一维），以便于每个样本的特征向量有4*14+12*1=68-D维，该命令就是前56个维数是LPCC，剩下的12个维数是分形维数。因而，这样的一个特征向量可以表征语音信号的线形和非线性特征。

自动语音识别的结构和特征

自动语音识别是一项尖端技术，它允许一台计算机，甚至是一台手持掌上电脑（迈尔斯，2000）来识别那些需要朗读或者任何录音设备发音的词汇。自动语音识别技术的最终目的是让那些不论词汇量，背景噪音，说话者变音的人直白地说出的单词能够达到100%的准确率（CSLU，2002）。然而，大多数的自动语音识别工程师都承认这样一个现状，即对于一个大的语音词汇单位，当前的准确度水平仍然低于90%。举一个例子，Dragon's Naturally Speaking或者IBM公司，阐述了取决于口音，背景噪音，说话方式的基线识别的准确性仅仅为60%至80%(Ehsani & Knodt, 1998)。更多的能超越以上两个的昂贵的系统有Subarashii(Bernstein, et al., 1999), EduSpeak(Franco, etal., 2001), Phonepass(Hinks, 2001), ISLE Project(Menzel, et al., 2001)and RAD(CSLU, 2003)。语音识别的准确性将有望改善。

在自动语音识别产品中的几种语音识别方式中，隐马尔可夫模型（HMM）被认为是最主要的算法，并且被证明在处理大词汇语音时是最高效的(Ehsani & Knodt, 1998)。详细说明隐马尔可夫模型如何工作超出了本文的范围，但可以在任何关于语言处理的文章中找到。其中最好的是Jurafsky & Martin(2000)and Hosom, Cole, and Fanty(2003)。简而言之，隐马尔可夫模型计算输入接收信号和包含于一个拥有数以百计的本土音素录音的数据库的匹配可能性(Hinks, 2003, p.5)。也就是说，一台基于隐马尔可夫模型的语音识别器可以计算输入一个发音的音素可以和一个基于概率论相应的模型达到的达到的接近度。高性能就意味着优良的发音，低性能就意味着劣质的发音(Larocca, et al., 1991)。

虽然语音识别已被普遍用于商业听写和获取特殊需要等目的，近年来，语言学习的市场占有率急剧增加(Aist, 1999;Eskenazi, 1999;Hinks, 2003)。早期的基于自动语音识别的软件程序采用基于模板的识别系统，其使用动态规划执行模式匹配或其他时间规范化技术(Dalby & Kewley-Port,1999).这些程序包括Talk to Me(Auralog, 1995), the Tell Me More Series(Auralog, 2000), Triple-Play Plus(Mackey & Choi, 1998), New Dynamic English(DynEd, 1997), English Discoveries(Edusoft, 1998), and See it, Hear It, SAY IT!(CPI, 1997)。这些程序的大多数都不会提供任何反馈给超出简单说明的发音准确率，这个基于最接近模式匹配说明是由用户提出书面对话选择的。学习者不会被告之他们发音的准确率。特别是内里，（2002年）评论例如Talk to Me和Tell Me More等作品中的波形图，因为他们期待浮华的买家，而不会提供有意义的反馈给用户。Talk to Me 2002年的版本已经包含了更多Hinks(2003)的特性，比如，信任对于学习者来说是非常有用的: ★ 一个视觉信号可以让学习者把他们的语调同模型扬声器发出的语调进行对比。★ 学习者发音的准确度通常以数字7来度量（越高越好）★ 那些发音失真的词语会被识别出来并被明显地标注。

Improved speech recognition method

for intelligent robot

2、Overview of speech recognition Speech recognition has received more and more attention recently due to the important theoretical meaning and practical value [5 ].Up to now, most speech recognition is based on conventional linear system theory, such as Hidden Markov Model(HMM)and Dynamic Time Warping(DTW).With the deep study of speech recognition, it is found that speech signal is a complex nonlinear process.If the study of speech recognition wants to break through, nonlinear-system theory method must be introduced to it.Recently, with the developmentof nonlinea-system theories such as artificial neural networks(ANN), chaos and fractal, it is possible to apply these theories to speech recognition.Therefore, the study of this paper is based on ANN and chaos and fractal theories are introduced to process speech recognition.Speech recognition is divided into two ways that are speaker dependent and speaker independent.Speaker dependent refers to the pronunciation model trained by a single person, the identification rate of the training person?sorders is high, while others’orders is in low identification rate or can’t be recognized.Speaker independent refers to the pronunciation model trained by persons of different age, sex and region, it can identify a group of persons’orders.Generally, speaker independent system ismorewidely used, since the user is not required to conduct the training.So extraction of speaker independent features from the speech signal is the fundamental problem of speaker recognition system.Speech recognition can be viewed as a pattern recognition task, which includes training and recognition.Generally, speech signal can be viewed as a time sequence and characterized by the powerful hidden Markov model(HMM).Through the feature extraction, the speech signal is transferred into feature vectors and act asobservations.In the training procedure, these observationswill feed to estimate the model parameters of HMM.These parameters include probability density function for the observations and their corresponding states, transition probability between the states, etc.After the parameter estimation, the trained models can be used for recognition task.The input observations will be recognized as the resulted words and the accuracy can be evaluated.Thewhole process is illustrated in Fig.1.Fig.1 Block diagram of speech recognition system Theory andmethod Extraction of speaker independent features from the speech signal is the fundamental problem of speaker recognition system.The standard methodology for solving this problem uses Linear Predictive Cepstral Coefficients(LPCC)and Mel-Frequency Cepstral Co-efficient(MFCC).Both these methods are linear procedures based on the assumption that speaker features have properties caused by the vocal tract resonances.These features form the basic spectral structure of the speech signal.However, the non-linear information in speech signals is not easily extracted by the present feature extraction methodologies.So we use fractal dimension to measure non2linear speech turbulence.This paper investigates and implements speaker identification system using both traditional LPCC and non-linear multiscaled fractal dimension feature extraction.3.1 L inear Predictive Cepstral Coefficients

Linear prediction coefficient(LPC)is a parameter setwhich is obtained when we do linear prediction analysis of speech.It is about some correlation characteristics between adjacent speech samples.Linear prediction analysis is based on the following basic concepts.That is, a speech sample can be estimated approximately by the linear combination of some past speech samples.According to the minimal square sum principle of difference between real speech sample in certain analysis frame short-time and predictive sample, the only group ofprediction coefficients can be determined.LPC coefficient can be used to estimate speech signal cepstrum.This is a special processing method in analysis of speech signal short-time cepstrum.System function of channelmodel is obtained by linear prediction analysis as follow.Where p represents linear prediction order, ak,(k=1,2,…,p)represent sprediction coefficient, Impulse response is represented by h(n).Suppose cepstrum of h(n)is represented by ,then(1)can be expanded as(2).The cepstrum coefficient calculated in the way of(5)is called LPCC, n represents LPCC order.When we extract LPCC parameter before, we should carry on speech signal pre-emphasis, framing processing, windowingprocessing and endpoints detection etc., so the endpoint detection of Chinese command word“Forward”is shown in Fig.2, next, the speech waveform ofChinese command word“Forward”and LPCC parameter waveform after Endpoint detection is shown in Fig.3.3.2 Speech Fractal Dimension Computation

Fractal dimension is a quantitative value from the scale relation on the meaning of fractal, and also a measuring on self-similarity of its structure.The fractal measuring is fractal dimension[6-7].From the viewpoint of measuring, fractal dimension is extended from integer to fraction, breaking the limitof the general to pology set dimension being integer Fractal dimension,fraction mostly, is dimension extension in Euclidean geometry.There are many definitions on fractal dimension, eg.,similar dimension, Hausdoff dimension, inforation dimension, correlation dimension, capability imension, box-counting dimension etc., where,Hausdoff dimension is oldest and also most important, for any sets, it is defined as[3].Where, M￡(F)denotes how many unit ￡ needed to cover subset F.In thispaper, the Box-Counting dimension(DB)of ,F, is obtained by partitioning the plane with squares grids of side ￡, and the numberof squares that intersect the plane(N(￡))and is defined as[8].The speech waveform of Chinese command word“Forward”and fractal dimension waveform after Endpoint detection is shown in Fig.4.3.3 Improved feature extractions method Considering the respective advantages on expressing speech signal of LPCC and fractal dimension,we mix both to be the feature signal, that is, fractal dimension denotes the self2similarity, periodicity and randomness of speech time wave shape, meanwhile LPCC feature is good for speech quality and high on identification rate.Due to ANN′s nonlinearity, self-adaptability, robust and self-learning such obvious advantages, its good classification and input2output reflection ability are suitable to resolve speech recognition problem.Due to the number of ANN input nodes being fixed, therefore time regularization is carried out to the feature parameter before inputted to the neural network[9].In our experiments, LPCC and fractal dimension of each sample are need to get through the network of time regularization separately, LPCC is 4-frame data(LPCC1,LPCC2,LPCC3,LPCC4, each frame parameter is 14-D), fractal dimension is regularized to be12-frame data(FD1,FD2,…,FD12, each frame parameter is 1-D), so that the feature vector of each sample has 4*14+1*12=68-D, the order is, the first 56 dimensions are LPCC, the rest 12 dimensions are fractal dimensions.Thus, such mixed feature parameter can show speech linear and nonlinear characteristics as well.Architectures and Features of ASR ASR is a cutting edge technology that allows a computer or even a hand-held PDA(Myers, 2000)to identify words that are read aloud or spoken into any sound-recording device.The ultimate purpose of ASR technology is to allow 100% accuracy with all words that are intelligibly spoken by any person regardless of vocabulary size, background noise, or speaker variables(CSLU, 2002).However, most ASR engineers admit that the current accuracy level for a large vocabulary unit of speech(e.g., the sentence)remains less than 90%.Dragon's Naturally Speaking or IBM's ViaVoice, for example, show a baseline recognition accuracy of only 60% to 80%, depending upon accent, background noise, type of utterance, etc.(Ehsani & Knodt, 1998).More expensive systems that are reported to outperform these two are Subarashii(Bernstein, et al., 1999), EduSpeak(Franco, et al., 2001), Phonepass(Hinks, 2001), ISLE Project(Menzel, et al., 2001)and RAD(CSLU, 2003).ASR accuracy is expected to improve.Among several types of speech recognizers used in ASR products, both implemented and proposed, the Hidden Markov Model(HMM)is one of the most dominant algorithms and has proven to be an effective method of dealing with large units of speech(Ehsani & Knodt, 1998).Detailed descriptions of how the HHM model works go beyond the scope of this paper and can be found in any text concerned with language processing;among the best are Jurafsky & Martin(2000)and Hosom, Cole, and Fanty(2003).Put simply, HMM computes the probable match between the input it receives and phonemes contained in a database of hundreds of native speaker recordings(Hinks, 2003, p.5).That is, a speech recognizer based on HMM computes how close the phonemes of a spoken input are to a corresponding model, based on probability theory.High likelihood represents good pronunciation;low likelihood represents poor pronunciation(Larocca, et al., 1991).While ASR has been commonly used for such purposes as business dictation and special needs accessibility, its market presence for language learning has increased dramatically in recent years(Aist, 1999;Eskenazi, 1999;Hinks, 2003).Early ASR-based software programs adopted template-based recognition systems which perform pattern matching using dynamic programming or other time normalization techniques(Dalby & Kewley-Port, 1999).These programs include Talk to Me(Auralog, 1995), the Tell Me More Series(Auralog, 2000), Triple-Play Plus(Mackey & Choi, 1998), New Dynamic English(DynEd, 1997), English Discoveries(Edusoft, 1998), and See it, Hear It, SAY IT!(CPI, 1997).Most of these programs do not provide any feedback on pronunciation accuracy beyond simply indicating which written dialogue choice the user has made, based on the closest pattern match.Learners are not told the accuracy of their pronunciation.In particular, Neri, et al.(2002)criticizes the graphical wave forms presented in products such as Talk to Me and Tell Me More because they look flashy to buyers, but do not give meaningful feedback to users.The 2000 version of Talk to Me has incorporated more of the features that Hinks(2003), for example, believes are useful to learners: ★ A visual signal allows learners to compare their intonation to that of the model speaker.★ The learners' pronunciation accuracy is scored on a scale of seven(the higher the better).Words whose pronunciation fails to be recognized are highlighted

第二篇：智能机器人外文翻译

Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on.With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being.The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use.To development economic practicality and high reliability robot system will be value to robot social application and economy development.With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal.Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal.The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity.Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding.With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware.In this article, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system.The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement.In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion.Worm gear can give vary transmission ratio.Both of the transmission mechanisms have a characteristic of compact structure.The design of drive system often is limited by the environment condition and the factor of cost and technical lever.'The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system.In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality.on this basis, the analysis of stepping motor in power calculating and style selecting is also given.The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Kinematics analysis is the basis of path programming and track control.The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed.The relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method.The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system.The f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time control.in this chamfer, Newton-Euripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting.Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle.With the demand of the PCL-839 card, the PC computer which has a.tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on.A t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL-839 are analyzed.Hardware is the matter foundation of the control.System and the software is the spirit of the control system.The target of the software is to combine all the parts in optimizing style and to improve the efficiency and reliability of the control system.The software design of the object holding manipulator control system is divided into several blocks such as 2 system initialization block, data process block and error station detect and dispose model and so on.PCL-839 card can solve the communication between the main computer and the control cells and take the measure of reducing the influence of the outer signal to the control system.The start and stop frequency of the step motor is far lower than the maximum running frequency.In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration.The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational method.This can be implemented either by hardware or by software.A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward.The motor' s acceleration can fit the torque-frequency curve properly with this method.And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed.The method is tested by experiment.At last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed.The development and application of robot in the future is expected.机器人

机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。机器人产品的实用化，既解决了许多单靠人力难以解决的实际问题，又促进了工业自动化的进程。目前，由于机器人的研制和开发涉及多方面的技术，系统结构复杂，开发和研制的成本普遍较高，在某种程度上限制了该项技术的广泛应用，因此，研制经济型、实用化、高可靠性机器人系统具有广泛的社会现实意义和经济价值。

由于我国经济建设和城市化的快速发展，城市污水排放量增长很快，污水处理己经摆在了人们的议事日程上来。随着科学技术的发展和人类知识水平的提高，人们越来越认识到污水处理的重要性和迫切性，科学家和研究人员发现塑料制品在水中是用于污水处理的很有效的污泥菌群的附着体。塑料制品的大量需求，使得塑料制品生产的自动化和高效率要求成为经济发展的必然。

本文结合塑料一次挤出成型机和塑料抓取机械手的研制过程中出现的问题，综述近几年机器人技术研究和发展的状况，在充分发挥机、电、软、硬件各自特点和优势互补的基础上，对物料抓取机械手整体机械结构、传动系统、驱动装置和控制系统进行了分析和设计，提出了一套经济型设计方案。采用直角坐标和关节坐标相结合的框架式机械结构形式，这种方式能够提高系统的稳定性和操作灵活性。传动装置的作用是将驱动元件的动力传递给机器人机械手相应的执行机构，以实现各种必要的运动，传动方式上采用结构紧凑、传动比大的蜗轮蜗杆传动和将旋转运动转换为直线运动的螺旋传动。机械手驱动系统的设计往往受到作业环境条件的限制，同时也要考虑价格因素的影响以及能够达到的技术水平。由于步进电机能够直接接收数字量，响应速度快而且工作可靠并无累积误差，常用作数字控制系统驱动机构的动力元件，因此，在驱动装置中采用由步进电机构成的开环控制方式，这种方式既能满足控制精度的要求，又能达到经济性、实用化目的，在此基础上，对步进电机的功率计一算及选型问题经行了分析。

在完成机械结构和驱动系统设计的基础上，对物料抓取机械手运动学和动力学进行了分析。运动学分析是路径规划和轨迹控制的基础，对操作臂进行了运动学正、逆问题的分析可以完成操作空间位置和速度向驱动空间的映射，采用齐次坐标变换法得到了操作臂末端位置和姿态随关节夹角之间的变换关系，采用几何法分析了操作臂的逆向运动学方程求解问题，对控制系统设计提供了理论依据。机器人动力学是研究物体的运动和作用力之间的关系的科学，研究的目的是为了4 满足是实时性控制的需要，本文采用牛顿-欧拉方法对物料抓取机械手动力学进行了分析，计算出了关节力和关节力矩，为步进电机的选型和动力学分析与结构优化提供理论依据。

控制部分是整个物料抓取机械手系统设计关键和核心，它在结构和功能上的划分和实现直接关系到机器人系统的可靠性、实用性，也影响和制约机械手系统的研制成本和开发周期。在控制主机的选用上，采用结构紧凑、扩展功能强和可靠性高的PC工业控制计算机作为主机，配以PCL-839卡主要承担系统功能初始化、数据运算与处理、步进电机驱动以及故障诊断等功能;同时对PCL-839卡的结构特点、功能原理和其高定位功能等给与了分析。硬件是整个控制系统以及极限位置功能赖以存在的物质基础，软件则是计算机控制系统的神经中枢，软件设计的目的是以最优的方式将各部分功能有机的结合起来，使系统具有较高的运行效率和较强的可靠性。在物料抓取机械手软件的设计上，采用的是模块化结构，分为系统初始化模块、数据处理模块和故障状态检测与处理等几部分。主控计算机和各控制单元之间全部由PCL-839卡联系，并且由该卡实现抗干扰等问题，减少外部信号对系统的影响。

步进电机的启停频率远远小于其最高运行频率，为了提高工作效率，需要步进电机高速运行并快速启停时，必须考虑它的升，降速控制问题。电机的升降速控制可以归结为以某种合理的力一式控制发送到步进电机驱动器的脉冲频率，这可由硬件实现，也可由软件方法来实现。本文提出了一种算法简单、易于实现、理论意义明确的步进电机变速控制策略:定时器常量修改变速控制方案。该方法能使步进电机加速度与其力矩——频率曲线较好地拟合，从而提高变速效率。而且它的计算量比线性加速度变速和基于指数规律加速度的变速控制小得多。通过实验证明了该方法的有效性。

最后，对论文主要研究内容和取得的技术成果进行了总结，提出了存在的问题和不足，同时对机器人技术的发展和应用进行了展望。

第三篇：外文翻译--使用语音识别技术控制的焊接机器人工作单元-精品

Use of Voice Recognition for Control of a Robotic

Welding Workcell

ABSTRACT: This paper describes work underway to evaluate the effectiveness of voice recognition systems as an element in the control of a robotic welding workcell.Factors being considered for control include program editor access security,Preoperation checklist requirements, welding process variable control,and robot manipulator motion overrides.In the latter two categories, manual vocal control is being compared against manual tactile control and fully automatic control in terms of speed of response, accuracy, stability, reliability.And safety.Introduction

Voice recognition technology is now recognized as a potential means for easing the workload of operators of complex systems.Numerous applications have already been implemented, are in various stages of development, or are under consideration.These include data entry,control of aircraft systems, and voice identification and verification for security purposes.Voice control has also been proposed for use aboard the space station.One prime area for application would be control of some functions of robots used for intraand extravehicular inspection, assembly, repair,satellite retrieval, and satellite maintenance when a crewmember is serving in a supervisory capacity or the system is operating in a teleoperation mode.Voice control of sensors and process variables would free the crewmember’s hands for other tasks, such as direct control or override of the manipulator motion.Similarly, the workload associated with control of many onboard experiments could be eased through the use of this technology.This paper describes the application of voice recognition for control of a robotic welding workcell.This is a complex system involving inputs from multiple sensors and control of a wide variety of robot manipulator motions and process variables.While many functions are automated, a human operator serves in a supervisory capacity, ready to override functions when necessary.In the present investigation, a commercially available voice recognition system is being integrated with a robotic welding workcell at NASA Marshall Space Flight Center, which is used as a test bed for evaluation and development of advanced technologies for use in fabrication of the Space Shuttle Main Engine.In the system under development, some functions do not yet have automatic closedloop control, thus requiring continuous monitoring and real-time adjustment by the human operator.Presently, these ovemdes are input to the system through tactile commands(;.e..pushing buttons.turning knobs for potentiometers, or adjusting mechanical devices).Since the operator monitors the process primarily visually, he must either look away from the process to find the proper button or knob or rely on“muscular memory”much as a touch-typist does.In the first case, the time of response to a deviant condition may be excessive.In the second case, there is an increased probability of a secondary error being introduced by the operator.A voice recognition system could reduce the response time required from the operator.The probability of pushing the wrong button should similarly be reduced.Also, operator fatigue should be minimized.Since the operator can continuously monitor the process during override input, the effect of the change can be observed more quickly.Thus, if the desired value is exceeded and reverse correction is required, it should be accomplished more quickly, allowing less overshoot.This reduction in oscillation about the desired value makes the system more stable.Another factor that can be improved is operator safety.In a safety-critical situation,the robot’s operation can be halted immediately by use of the “emergency stop,’’ or E-stop, mode, which is initiated, conventionally, by depressing a large button.If an operator inadvertently finds himself in a hazardous situation, it may be necessary for him to initiate the E-stop sequence.Should the operator not be within reach of the button,however, he may be unable to take the necessary action, and, as a result, could suffer serious injury.Having the capability of stopping the robot by issuing a voice command could significantly improve the operator’s safety by enabling him to stop the robot even when not within reach of the E-stop button.Manual corrections are occasionally required to adjust the location at which the weld filler wire enters the weld pool.Proper entry location is absolutely critical to sound weld quality.Adjustments are made either by manually adjusting mechanisms that hold the wirefeed guide tube or by issuing tactile commands to a servomechanism.Use of a voice recognition system could eliminate the need for the operator to place his hand within the working envelope of the robot end effector or, if servomechanisms are employed,could improve speed of response and stability.Another aspect of robot operation in an industrial environment that is very important is the security of a program editing capability of the system.Under no circumstances should any unauthorized person be able to enter this programming mode and alter the robot’s program.A voice recognition system can provide the necessary security by allowing access only for individuals who are authorized and whose voices can be identified by the system.Background

Robotic welding is under development by NASA and Rocketdyne for the automation of welds on the Space Shuttle Main Engine that are presently made manually.The programmability of a robot can reduce the percentage of welding defects through a combination of consistency and repeatability unattainable by its human counterparts.To do this, the robot is programmed to a nominal weld path and level of weld process parameters(i.e., current, travel speed.voltage,wire addition rate).Some adjustment of these values is often necessary due to conditions changing during the weld.A human making a manual weld accomplishes this adjustment readily, while a robot must rely on the limited talents of sensors and the ability of the operator to override functions when necessary.System Integration

The basic elements of the workcell system are shown diagrammatically in the illustration.The ultimate goal of the system development work in progress is to generate robot manipulator programs and weld process programs off line, download them to the workcell supervisory computer, then use sensor subsystems to make closed-loop corrections to the robot path and process variables.Offline programming is being done with an Intergraph modified VAX 780/785-205 computer system with Interact color graphics workstations.Deviations between the programmed robot path and the actual required path are observed and corrected by a sophisticated vision-based sensor developed for this application by Ohio State University.This sensor system is also designed to permit measurement of the molten weld pool surface dimensions and correct welding current level to maintain the weld pool dimensions within desired limits.Presently, a number of functions are still controlled manually, and manual overrides capability is required for all functions.As stated in the Introduction, use of voice recognition may improve the accuracy and speed of response of these manual overrides.To explore this technology, a Votan VRT 6050 stand-alone voice recognition terminal has been integrated into the workcell.This system provides continuous speech recognition of up to 10 sets of words with 75-150 words per set.The integration of the voice recognition system is broken into analog and discrete signals for control.The voice recognition system connects to the control computer through a standard RS232-C communications link.Discrete Control Signals

In this project, most of the control circuitry is based on discrete digital signals.This is due to the on/off state nature of the circuits to be controlled in the robot controller.The circuits of the system to be controlled by the voice recognition control computer(VRCC)by discrete signals are the emergency stop circuit and the positive jog and negative jog circuits for motion control.Since the safety of the operator is paramount in any automated workcell, the voice recognition system should be incorporated as a safety feature.To accomplish this, the VRCC has been interfaced into the workcell emergency stop circuit.The emergency stop circuit in the robotic workcell will shut down the welding process and the mechanical motion of the manipulators.Through the use of a digital signal from the VRCC, a relay is energized that interrupts the necessary circuits in the weld power supply and robot controller.With the use of the voice recognition system as a safety control for this workcell, we have added a third level of redundancy into the emergency stopping ability of the operator(in addition to the present emergency stop buttons).Manipulator motions are controlled through an axis select button in conjunction with a positive or negative jog button that is depressed by the operator.Once the operator has selected an axis, he depresses one of the jog buttons for the desired travel distance.This function was selected to be controlled by the VRCC because of its utilization during automatic operation of the manipulator to correct trajectory errors.The circuitry necessary to control this operation draws the signal to ground through the activation of relays for the positive or negative jog motion.Because motion is achieved only as long as these signals are active low.they can be controlled by discrete digital signals from the VRCC.Analog Control Signals

There are many variables that affect the quality of weld during the welding process.but the welding current has the greatest effect over a small range of values.It was for this reason, that the welding current was chosen to be controlled by the voice recognition system.The welding power supply controls the current level through a voltage circuit that uses a range of 0-10 V DC.These voltage values are converted to current levels from 0 to 300 A for welding.A digital-to-analog converter is used in conjunction with a multiplying circuit.The converter allows the VRCC to control a voltage level that is used by the weld power supply to achieve the proper welding current.The multiplier circuit is necessary to allow the weld power supply to be controlled by the other subcontroller used in the workcell.Experimental Investigation

The accuracy and speed of response of corrections to robot manipulator motion and welding process variables made with the VRCC are being compared with those made with the original control system.Step input errors to robot motion and welding current are introduced randomly into the robot program.By graphically recording relevant system output signals,the time required for the operator to detect the change and initiate corrective action may be measured.Response accuracy and stability may also be gaged through similar analysis of the relevant recorded system output signals.Conclusions

Future work will investigate voice control of welding filler wirefeed speed and location of wire entry into the weld pool.Also to be investigated is voice control of welding arc voltage override.Later, restriction of access to the robot program editor by voice recognition may be implemented.The use of voice recognition technology for manual supervisory control of industrial robot systems is very promising.This technology has application for aerospace welding due to the need to have constant human supervision over a multitude of process parameters in real time.Future development of this technology will permit rapid expansion of its application to both robotic and nonrobotic processes.Acknowledgment

Special thanks to Mr.Jeff Hudson of Martin Marietta Corporation for assistance in the preparation of the illustration presented in this article.References

[1] C.A.Simpson.hl.E.McCauley.E.F.Rolland.J.C.Ruth.and B.H.Williges.“System Design for Speech Recognition and Generation.” Hutnnn Factors.vol.27.no.2.pp.115-1-11.1985.[2] National Research Council.Committee on Computerized Speech Recognition Technologies.Automatic Speech Rerop1irior1 in severe Environments National Research Council.1984.[3] E.J.Lerner.“Talking to Your Aircraft.” Aerospace America.vol.24.no.2.pp.85-88.1986.[4] J.T.Memlield.“Bosing Explores Voice Recognition for Future Transpon Flight Deck.” Ariarinn Week and Space Techno/-og!.vol.124.no.16.pp.85-91.1986.[5] A.Cohen and J.D.Erickson,..Future Uses of Machine Intelligence and Robotics for the Space Station and Implications for the U.S.Economy.'' IEEE J.Robotics and Automarion.vol.SMC-16.pp.1 11-12 I.Jan.iFeb.1986 [6] “Automation and Robotics for the National Space Program,” California Space Institute Automation and Robotics Panel.Cal Space Repon CS1185-01, Feb.25, 1985.[7] “Advancing Automation and Robotics Technology for the Space Station and for the U.S.Economy.” Advanced Technology AdvisoryCommittee.NASA TM 87566.Mar.1985.使用语音识别技术控制的焊接机器人工作单元

摘要：本文论述了使用声音识别技术的焊接机器人工作单元在工作过程中的效果、程序编辑者接近机器人的安全﹑试行运转的必要性﹑焊接过程的控制变量﹑机器人操作者的动作规范等因素给与考虑。在焊接过程控制和操作动作两个方面，按照反应速度﹑定位精确性﹑焊接稳定性﹑焊接可靠性和安全性把人工声音控制与手工触觉控制和完全自动化控制进行了比较。

绪论

声音识别技术已经成为可能缓解操作者工作负担的一种有潜力的复杂系统。许多应用已经落实,或正陆续开发,或正在研究之中。这些措施包括数据的输入﹑飞机的控制﹑和以安全为目的的语音识别。

许多应用语音控制技术还建议用于太空站.一个主要的应用领域将机器人控制功能用于太空舱内检查、装配、维修、卫星回收、维修卫星,是在船上服务的监督能力和系统运作模式的反馈.声音感应器和过程控制的变数将使船员影响他手上的其它工作,例如直接控制或推翻的操纵议案。同样,利用工作量控制机载实验这种技术可以缓解许多工作负担。

这份文件描述应用语音识别控制的焊接机器人工作单元。这是一个复杂的系统,涉及多个传感器及控制投入各种机械操作件和变化多样的工艺参数。虽然许多功能是自动化，且为人类监督管理能力所控制,但在必要时随时准备超越这些功能。在当前的调查中，在美国航天局的马歇尔空间飞行中心可供商业使用语音识别系统结合了焊接机器人工作单元的技术，这一技术作为试点的评价和开发先进技术并用于制造航天飞机主发动机。在系统开发中，有些功能尚不具备自动跟踪控制,因此需要不断地人力监测和实时调整操作。目前,该系统投入方案是通过触觉指令(即： 推动按钮.旋转电位计、或者调整机械装置)。由于操作过程中,主要监测者必须考虑在远离的过程中寻找适当的按钮或把手或靠像打字员一样那种打字时的肌肉记忆。第二种情况，可能由于操作者的的二次反应而增加了错误发生的可能性。

一个语音识别系统可减少操作者的反应时间。操作者按错按钮的可能性了同样的也会减少。并且,操作者劳累也会大大减小。

由于在方案运行的过程中操作者不断监测，可以更快地观察到运行状况改变所带来的影响。因此,如果超过了预期值,应该更快纠正,，但不能太过度。这对减少振荡,使系统更加稳定的实现了预期的价值。

另一个因素是可以改善操作者的安全.。在一个安全的紧急情况下，机器人的操作者可以采取紧急停止来停止其运行，这种紧急停止模式一般来说是设置一个大按钮，按惯例是一种经常用的方式。如果操作者无意中发现自己在危险的情况下，这时也许他有必要采取紧急停止这种模式。如果操作者不能够按到的按钮，可他也没有能力采取必要的行动时，这样下去，他可能会受重伤。如果操作者者能通过发出声音指令来停止机器人的运行那将会大大的改善操作者的安全，即使操作者在不能按到紧急停止按钮无法停止机器的情况下也将很安全。

手工调整有时候需要适应焊丝填充到焊接溶池中的位置。填充到正确合适的位置是焊接质量的关键。既可通过手工调节机制来控制送丝导管也可给自动控制装置发出移动指令来进行调整。使用语音识别系统可以让操作者者不必再把机器人控制效应得指令文件拿在手中，如自动控制装置被使用，可以改善操作的反应速度和运行稳定性。

另一方面，编辑系统程序权限的安全是工业机器人在作业环境中很重要的一个安全。在任何情况下，任何未经授权的人能进入程序编辑模式，并且可以改变机器人的控制程序。一个语音识别系统，可提供必要的安全，使他们那些久久是获得授权的人的声音，才能被机器人系统识别。

背景

美国航天局正在开发焊接机器人并且焊接自动化设备来代替目前正在用手工焊接的航天飞机的主发动机。使用该机器人的程序，可以通过用手工来难以做到的焊接一致性和重复操作来达到减少焊接缺陷的比例。为此，焊接机可以编成控制额定的焊接通路和所需要的焊接过程参数，(即焊接电流、焊接速度、焊接电压、送丝速度等)。当焊接条件改变的时候做一些有价值调整是很有必要的。一个人用手工来操作焊接时作出调整是很容易的，但是机器人的调节靠传感器的智能和必要的人工操作者的方案调节。

系统综述

机器人工作系统的基本情况如图表所示，最终的系统开发工作是编辑操作的程序和焊接过程生产线的控制程序，下载这些程序到控制工作单元的电脑，然后使用子系统传感器修正机器人的运行路径和过程，使其可变。利用VAX 780/785-205电脑连接到彩色图形处理工作站来进行图表处理实现脱机设计。机器人由于程序编辑和实际需要之间的偏差是通过俄亥俄州大学研究的精密的视觉传感器来发现和纠正的。这种传感系统也设计成允许测量焊接溶池表面尺寸和改变电流大小来调节焊接溶池保持理想的形状。目前，仍有许多功能人工控制，而且各个方面的功能都需要人工的操作。如前绪论中所述，引进声音识别技术可以改进人工操作的准确性和反应速度。为研究这项技术，Votan VRT 6050声音识别单机终端被引入到机器人的工作单元中。这个连续的语音识别系统可以提供多达10套，每套有75—150句话。

把语音识别系统的模拟和离散信号输入控制。语音识别系统通过RS232-C的通信连接到控制主机。

图1焊接机器人系统设计

离散控制信号

在这个项目中，大多数控制电路是基于不同的数字信号。这主要是用在一些国产性质的机器人控制器上的。通过语音识别技术控制的计算机来控制的电路系统是通过一种离散信号来控制，这种信号有紧急停止电路和积极响应和消极响应电路的功能。

因为任何自动化工作单元中操作者的安全是必须保障的,所以应把语音识别系统的安全也考虑在内。为达到这一目标，贞技术已引入紧急停止电路的工作单元。机器人工作单元中的紧急停止电路将会停止焊接过程的终止操作者的操作。通过使用数字贞信号，需要中断焊接动力供电线路和机器人控制器的继电器被广泛使用。由于在这一工作单元中使用的语音识别技术这一安全系统，我们又增加了第三种供选择的紧急停车的方案（除了现在已经有的紧急停车按钮）。

方案是通过操作者在轴配合正按钮或负按钮之间选择来实现控制的。一旦操作者选择了轴，它可以在理想的距离之内控制负按钮。这种功能的选用是通过控贞信号来控制的，因为贞信号的使用在自动操作中可以纠正运行的错误。在这一操作中有必要通过继电器的正负极的地面信号来达到目的。只因为这些信号很微弱才能达到目的。他们可以通过贞信号远距离控制。

模拟控制信号

有很多因素影响焊接过程的质量，但是焊接电流对焊接质量的影响绝不是一个小的因素。正因为如此，所以焊接电流被选择为声音识别系统控制的对象。

使用0—10V直流电压来控制焊接电源从而控制电流大小，这种电压可以使电流在焊接过程中从0—300A之间变化。数子—模拟转化器配合的电路在广泛的使用。这种转换器允许贞信号控制电压的大小从而使电源能提供合适的焊接电流。这种电路必须允许焊接电源通过工作单元中的其它辅助设备来控制。

实验研究

在准确性和反应速度方面通过贞信号控制的各种焊接过程与原始的控制系统进行了比较。目前焊接机器人操作的的输入误差提和焊接电流已经被引入到机器人程序中。通过图表记录了系统相关的信号，可以通过操作者发觉错误和纠正这一错误所需要的时间来衡量。反应的准确性和稳定性也可以通过类似的记录仪器来分析系统信号的输入。

结论

今后的工作将会把语音控制技术应用到焊丝填充速度焊丝填入溶池位置的控制，也会将该技术用在弧焊电压控制上。以后，那些现在在机器人编程受到限制的的方案在采用语音识别技术之后有可能实现。

利用语音识别技术控制工业机器人系统非常有前景的。由于航空焊接需要大量人力监管过程实时参数控制所以这项技术已申请用于航空焊接。这一技术的未来发展将可迅速扩展为机器人的应用和非机器人的处理过程。

致谢

在此特别感谢Martin Marietta 公司的Mr.Jeff Hudson协助编作本篇论文。

参考文献

[1] C.A.Simpson.hl.E.McCauley.E.F.Rolland.J.C.Ruth.and B.H.Williges.“System Design for Speech Recognition and Generation.” Hutnnn Factors.vol.27.no.2.pp.115-1-11.1985.[2] National Research Council.Committee on Computerized Speech Recognition Technologies.Automatic Speech Rerop1irior1 in severe Environments National Research Council.1984.[3] E.J.Lerner.“Talking to Your Aircraft.” Aerospace America.vol.24.no.2.pp.85-88.1986.[4] J.T.Memlield.“Bosing Explores Voice Recognition for Future Transpon Flight Deck.” Ariarinn Week and Space Techno/-og!.vol.124.no.16.pp.85-91.1986.[5] A.Cohen and J.D.Erickson,..Future Uses of Machine Intelligence and Robotics for the Space Station and Implications for the U.S.Economy.'' IEEE J.Robotics and Automarion.vol.SMC-16.pp.1 11-12 I.Jan.iFeb.1986 [6] “Automation and Robotics for the National Space Program,” California Space Institute Automation and Robotics Panel.Cal Space Repon CS1185-01, Feb.25, 1985.[7] “Advancing Automation and Robotics Technology for the Space Station and for the U.S.Economy.” Advanced Technology AdvisoryCommittee.NASA TM 87566.Mar.1985.

第四篇：智能避障机器人设计外文翻译

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INTELLIGENT VEHICLE

Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles 1.2 million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death.If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020.In fact, the U.S.Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion.When hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic.Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management.Thus was born the intelligent transportation system(ITS).Starting in the late 1990s, ITS systems were developed and deployed.In developed countries, travelers today have access to signifi-cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems.As the world energy crisis, and the war and the energy consumption of oil--and are full of energy, in one day, someday it will disappear without a trace.Oil is not in resources.So in oil consumption must be clean before finding a replacement.With the development of science and technology the progress of the society, people invented the electric car.Electric cars will become the most ideal of transportation.In the development of world each aspect is fruitful, especially with the automobile electronic technology and computer and rapid development of the information age.The electronic control technology in the car on a wide range of 1

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applications, the application of the electronic device, cars, and electronic technology not only to improve and enhance the quality and the traditional automobile electrical performance, but also improve the automobile fuel economy, performance, reliability and emissions purification.Widely used in automobile electronic products not only reduces the cost and reduce the complexity of the maintenance.From the fuel injection engine ignition devices, air control and emission control and fault diagnosis to the body auxiliary devices are generally used in electronic control technology, auto development mainly electromechanical integration.Widely used in automotive electronic control ignition system mainly electronic control fuel injection system, electronic control ignition system, electronic control automatic transmission, electronic control(ABS/ASR)control system, electronic control suspension system, electronic control power steering system, vehicle dynamic control system, the airbag systems, active belt system, electronic control system and the automatic air-conditioning and GPS navigation system etc.With the system response, the use function of quick car, high reliability, guarantees of engine power and reduce fuel consumption and emission regulations meet standards.The car is essential to modern traffic tools.And electric cars bring us infinite joy will give us the physical and mental relaxation.Take for example, automatic transmission in road, can not on the clutch, can achieve automatic shift and engine flameout, not so effective improve the driving convenience lighten the fatigue strength.Automatic transmission consists mainly of hydraulic torque converter, gear transmission, pump, hydraulic control system, electronic control system and oil cooling system, etc.The electronic control of suspension is mainly used to cushion the impact of the body and the road to reduce vibration that car getting smooth-going and stability.When the vehicle in the car when the road uneven road can according to automatically adjust the height.When the car ratio of height, low set to gas or oil cylinder filling or oil.If is opposite, gas or diarrhea.To ensure and improve the level of driving cars driving stability.Variable force power steering system can significantly change the driver for the work efficiency and the state, so widely used

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in electric cars.VDC to vehicle performance has important function it can according to the need of active braking to change the wheels of the car, car motions of state and optimum control performance, and increased automobile adhesion, controlling and stability.Besides these, appear beyond 4WS 4WD electric cars can greatly improve the performance of the value and ascending simultaneously.ABS braking distance is reduced and can keep turning skills effectively improve the stability of the directions simultaneously reduce tyre wear.The airbag appear in large programs protected the driver and passenger's safety, and greatly reduce automobile in collision of drivers and passengers in the buffer, to protect the safety of life.Intelligent electronic technology in the bus to promote safe driving and that the other functions.The realization of automatic driving through various sensors.Except some smart cars equipped with multiple outside sensors can fully perception of information and traffic facilities and to judge whether the vehicles and drivers in danger, has the independent pathfinding, navigation, avoid bump, no parking fees etc.Function.Effectively improve the safe transport of manipulation, reduce the pilot fatigue, improve passenger comfort.Of course battery electric vehicle is the key, the electric car battery mainly has: the use of lead-acid batteries, nickel cadmium battery, the battery, sodium sulfide sodium sulfide lithium battery, the battery, the battery, the flywheel zinc-air fuel cell and solar battery, the battery.In many kind of cells, the fuel cell is by far the most want to solve the problem of energy shortage car.Fuel cells have high pollution characteristics, different from other battery, the battery, need not only external constantly supply of fuel and electricity can continuously steadily.Fuel cell vehicles(FCEV)can be matched with the car engine performance and fuel economy and emission in the aspects of superior internal-combustion vehicles.Along with the computer and electronic product constantly upgrading electric car, open class in mature technology and perfected, that drive more safe, convenient and flexible, comfortable.Electric cars with traditional to compete in the market, the car will was electric cars and intelligent car replaced.This is the question that day

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after timing will come.ABS, GPS, and various new 4WD 4WS, electronic products and the modern era, excellent performance auto tacit understanding is tie-in, bring us unparalleled precision driving comfort and safety of driving.The hardware and software of the intelligent vehicle are designed based on AVR.This system could set the route in advance.The vehicle could communicate with the PC vianRF401 and could run safely with the help of ultra sound detection and infrared measuring circuit.Neural network self-study is used to improve the intelligence of the vehicle.The performance of servo systems will determine the property of the robot.Based on AVRseries MCU，the velocity servo system for driving motor is created in this paper，including a discrete PIregulator which will work out a PWM control signal with applying the skill of integral separation.The velocities of motors will be controlled real-time with the speed sampling frequency set for 2KHz by using the AVR-GCC compiler software development.Compared to the servo system development based on the 51 Series MCU，the system here has these advantages of simpler peripheral circuit and faster data processing.The experiments demonstrate that，the mobile robot runs stably and smoothly by the control of AVR units，and that the design proposal especially benefits the development of intelligent mobile robots，also can be widely used in the development of other smart devices and product lines.A new design of contest robot control system based on AVR Atmega8 was put forward.According to the character of contest robot , the main control unit , motor drive unit , sense detection unit and LCD display unit were introduced.Furthermore the servo driver system based on MCBL3006S , the line t racker sensor system and the obstacle avoidance sensor system were presented in detail.Finally the performance shows

that

the

control

system

is

open,simple,easy programming,intelligent and efficiency.Avoidance rules of intelligent vehicle obstacle are intro ducted.Through the collection of infrared sensor formation,the rules use diode D1 to launch and diode D2 to receive infrared signals.Infrared transmitter signal without a dedicated circuit

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comes directly from the MCU clock frequency, which not only simplifier the circuit and debugging, but also make the circuit stability and anti-jamming capability greatly enhanced.After the experimental verification,the system runs reliably meet the design requirements.A smart car control system of the path information identified based on CCD camera was introduced.The hardware structure and scheme were designed.The control strategy of s teering mechanism was presented.The smart car not only can identify the road precisely, but also have ant-interference performance, and small steady state error.This article designed smart car system,includes the aspects of the sensor information acquisition and processing, motor drive, control algorithm and control strategy etc.Using laser sensor to collect the road information which can feedback to the micro-controller control system,then making analytical processing combined with the software.With velocity feedback and PID control algorithms to control steering engine and the speed of smart car.Verified by actual operation, this method makes smart car travel stably and reliably，and its average speed to reach 2.6m /s, and get a satisfied results.By the aid of the professional know ledge of control, patter n recognition, sensor technology, aut omotive electronics, electricity, computer, machinery and so on, an intelligent vehicle system is designed with PID control algorithm,CCD detection system and HC9SDG128 MCU.Code Warrior IDE integrated development programming environment is taken as a basic softy are platform that can automatically deal with the traffic and image pro cessing, and then adjust the moving direction along the scheduled or bit by t he aid of a CCD camera.The system has many advantages, such as high reliability , high stability, good speed ability and scalability.Based on the research background of the Free-Scale smart car competition,a smart track following car is designed.In the car, the photo electricity sensor is used to check the path and obtain the information of racing road, and calculate the error

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between the car and the black line.The fuzzy control is used to control the velocity of the car.The experiments show that the smart car based on the fuzzy control has high accuracy on the judgment of the path, stability and velocity control.外文翻译

智能车

我们的社会充斥着各种各样的“机器智能“。在过去的世纪，我们目睹越来越多日常生活中的“苦差事“被机器设备解决，如洗衣机。

然而，一个既枯燥又危险的保留区域就是日常驾驶汽车。2002年，120万人死于交通事故，这是所有全球2.1％死亡，死因排名第11。如果这种趋势继续下去，估计从2020年起每一年死于道路交通统（ITS）。20世纪90年代中后期开始，它的系统进行了开发和部署。在发达国事故的人将达到850万人。事实上，美国交通部估计交通事故的整体社会成本每年超过2300亿美元。

数百或数千辆车共享相同的道路时，就导致了大家都熟悉的交通挤塞。交通挤塞破坏了我们的生活质量就像空气污染损害公众健康。1990年左右，公路运输的专业人士开始申请让他们在交通和道路管理。于是诞生了智能交通系家，旅客今天能够获得旅行条件的信息，无论是驾驶自己的车或乘坐公共交通系统。

随着世界能源危机的持续，以及战争和能源-----石油的消耗及汽车饱有量的增加，能源在一天一天下降，终有一天它会消失的无影无踪。石油不是在生资源。所以必须在石油耗净之前找到一种代替品。随着科技的发展社会的进步，有人发明了电动汽车。电动汽车将成为人们最为理想的交通工具。

世界在各各方面的发展都取得丰硕成果，尤其是随着汽车电子技术和计算机以及发展迅速的信息时代。电子控制技术在汽车上得到了广泛应用，汽车上应用的电子装置越来越丰富，电子技术不仅用来改善和提高传统汽车电器的质量和性能，而且还提高了汽车的动力性、燃油经济性、可靠性以及废气排放的净化性。汽车上广泛使用电子产品不仅降低了成本，并且减少维护的复杂性。从发动机的燃油喷射点火装置、进气控制、废气排放控制、故障自诊断到车身辅助装置都普遍采用了电子控制技术，可以说今后汽车发展主要以机电一体化。汽车上广泛采用的电子控制点火系统主要有电子控制燃油喷射系统、电子控制点火系统、电子控制自动变速器、电子控制防滑（ABS/ASR）控制系统、电子控制悬架系统、电子控制动力转向系统、车辆动力学控制系统、安全气囊系统、主动安全带系统、电子控制自动空调系统、导航系统还有GPS等。有了这些系

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统汽车响应敏捷，使用功能强，可靠性高，既保证发动机动力又降低燃油的消耗，而且又满足排放法规的标准。

汽车是现代人必不可少的交通工具。而电动汽车给我们带来无限乐趣外还能给我们劳累一天的身心得以放松。就拿自动变速器来说吧，汽车在行驶时，可以不踩离合器踏板，就可以实现自动换档而发动机不会熄火，这样有效的提高驾驶方便性减轻驾驶员的疲劳强度。自动变速器主要由液力变矩器、齿轮变速器、油泵、液压控制系统、电子控制系统、油冷却系统等组成。电子控制的悬架主要是用来缓冲路面对车身的冲击力以及减少振动保证汽车平顺性和操纵稳定性。当汽车行驶在不平坦的道路时汽车能能根据底盘和路面高度自动调整。当车高比设置的高度低时，就向气室或油缸充气或充油。如果是相反，就放气或泻油。从而保证汽车的水平行驶，提高行驶稳定性。可变力动力转向系统因能显著改变驾驶员的工作效率和状态，所以在电动汽车上广泛使用。VDC对汽车性能有着至关重要的作用它能根据需要主动对车轮进行制动来改变汽车的运动状态，使汽车达到最佳的行驶状态和操纵性能，并增加了汽车的附着性，控制性和稳定性。除了这些之外4WS、4WD的出现大大提高了电动汽车的价值与性能同步提升。ABS具有减少制动距离并能保持转向操作能力有效提高行驶方向的稳定性同时减少轮胎的磨损。安全气囊的出现在很大程序上保护了驾驶员和乘客的安全，大大降低汽车在碰撞时对驾驶员和乘客的缓冲，以过到保护生命安全的目的。

智能电子技术在汽车上得以推广使得汽车在安全行驶和其它功能更上一层楼。通过各种传感器实现自动驾驶。除些之外智能汽车装备有多种传感器能充分感知交通设施及环境的信息并能随时判断车辆及驾驶员是否处于危险之中，具备自主寻路、导航、避撞、不停车收费等功能。有效提高运输过程中的安全，减少驾驶员的操纵疲劳度，提高乘客的舒适度。当然蓄电池是电动汽车的关键，电动汽车用的蓄电池主要有：铅酸蓄电池、镍镉蓄电池、钠硫蓄电池、钠硫蓄电池、锂电池、锌―空气电池、飞轮电池、燃料电池和太阳能电池等。在诸多种电池中，燃料电池是迄今为止最有希望解决汽车能源短缺问题的动力源。燃料电池具有高效无污染的特性，不同于其他蓄电池，其不需要充电，只要外部不断地供给燃料，就能连续稳定地发电。燃料电池汽车(FCEV)具有可与内燃机汽车媲美的动力性能，在排放、燃油经济性方面明显优于内燃机车辆。

外文翻译

随着计算机和电子产品不断开级换代，电动汽车技术也在日趋成熟与完善，使得驾驶更安全、方便、灵活、舒适。电动汽车真正能够与传统的燃油汽车相竞争，今后汽车市场终会被电动汽车和智能汽车所取代。这只是时间性的问题这一天终究会来到的。ABS、GPS、4WS、4WD以及各种新时代的电子产品与现代高性能汽车默契组合、绝妙搭配，带给我们无与伦比的精准驾驶舒适性和行驶安全性。

以AVR 单片机为核心, 提出了一种智能探测小车的软硬件设计方案。系统可以预先设定小车的行走路线, 能够实现小车与计算机之间的无线通讯, 通过超声测物和红外测障电路使小车安全行走。另外, 系统通过JTAG 接口在线调试程序。软件设计中采用神经网络自学习, 大大增强了小车的智能化.执行元件的伺服系统性能将决定机器人的性能。基于AVR 系列单片机，并应用积分分离技术，设计离散PI 调节器，输出PWM 控制信号，建立驱动电机的速度伺服控制系统。使用AVR － GCC 编译软件开发伺服系统软件，设定速度采样频率为2KHz，实现对电机速度的实时控制。与基于51 系列单片机开发的伺服系统相比，本系统所需的外围电路更简单，数据处理速度更快。实现了机器人响应快速，移动平稳。该伺服系统的开发尤其适用于智能移动机器人，还可以广泛应用于其它智能设备和生产线。

提出了一种基于AVR 单片机Atmega8 为核心控制器的比赛机器人控制系统,通过比赛机器人的特征分析,阐述了构成控制系统所需的主控单元、电机驱动单元、传感检测单元及LCD 显示单元,其中详细分析了以MCBL3006S 为核心的伺服电机驱动单元,以及关系比赛机器人基本功能实现的循线传感系统及避障传感系统,并给出部分程序。最后通过实践表明,该控制系统开放性好、结构简单、编程容易、智能并高效。

智能车的避障规则，通过对红外传感器的信息进行采集,使用二极管D1 发射红外线，二极管D2 接收红外信号。红外线发射部分不设专门的信号发生电路，直接从单片机实现时钟频率，既简化了线路和调试工作，又能使电路的稳定性和抗干扰能力大大加强。经实验验证，该系统运行可靠，达到了设计要求。

介绍一种基于CCD 摄像头的路径识别的智能车控制系统, 设计了硬件结构与方案, 提出了转向机构的控制策略, 该智能车能准确实现自主寻迹, 具备抗干扰性极强, 稳态误差小等特点。

外文翻译

智能车系统，包括传感器信息采集与处理、电机驱动、控制算法及控制策略等方面。采用激光传感器采集道路信息并反馈给单片机控制系统，通过软件进行相关分析处理，通过速度反馈和PID 算法控制舵机转向和智能车速度。通过实际运行验证，本方法使智能车运行稳定、可靠,其平均速度达到2.6m/s，得到比较理想的效果。

为了综合利用控制、模式识别、传感器技术、汽车电子、电气、计算机、机械等专业领域知识, 设计实现了一个基于PID 控制算法, CCD 检测系统, 并采用H C9SDG128 单片机作为主控芯片的智能车系统。该系统使用Codewar rio r IDE 集成开发环境作为程序设计的基本软件平台, 能利用摄像头自动识别路况, 进行图像处理, 进而调整方向沿预定轨道前行, 具有很强的可靠性、稳定性、快速性、扩展性。

以“飞思卡尔”杯智能车大赛为研究背景，开发了一种智能循迹小车。该小车采用光电传感器检测路径，获得赛道信息，求出小车与黑线间的偏差，采用模糊控制对小车的速度进行控制，使小车能够自动跟随直道和弯道。实践表明，采用模糊控制的智能小车在路径识别的精准度，稳定性，及速度控制上具有明显优势。

第五篇：机器人外文翻译(文献翻译_中英文翻译)

外文翻译

外文资料：

Robots First, I explain the background robots, robot technology development.It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology.It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development.But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave.So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need.Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories.is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide.Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation.So far, the industrial robot is the most mature and widely used category of a robot, now the world's total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small.Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly.Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot.It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement.So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom.We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom.Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc.These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference.It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc.It’s surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robot’s one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming.The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up.This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas.If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited.Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside.a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate.This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery.This robot has in the area, caused a great sensation, but also, AESOP's surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor's movements linked, the doctor hands off, lighting went off, This is very good, a doctor's assistant.Robot is mankind's right-hand man;friendly coexistence can be a reliable friend.In future, we will see and there will be a robot space inside, as a mutual aide and friend.Robots will create the jobs issue.We believe that there would not be a “robot appointment of workers being laid off” situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.译文资料：

机器人

首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。

机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。

下边我简单介绍一下工业机器人的一些情况。到目前为止，工业机器人是最成熟，应用最广泛的一类机器人，世界总量目前已经销售110万台，这是1999年的统计，但这110万台在已经进行装备使用的是75万台，这个量也是不小的。总体情况看，日本在工业机器人这一块，是首位的，成为机器人的王国，美国发展也很迅速，目前在新安装的台数方面，已经超过了日本，中国刚开始进入产业化的阶段，已经研制出多种工业机器人样机，已有小批量在生产中使用。

点焊机器人主要是针对汽车生产线，提高生产效率，提高汽车焊接的质量，降低工人的劳动强度的一种机器人。它的特点是通过机器人对两个钢板进行点焊的时候，需要承载一个很大的焊钳，一般在几十公斤以上，那么它的速度要求在每秒钟一米五到两米这样的高速运动，所以它一般来说有五到六个自由度，负载三十到一百二十公斤，工作的空间很大，大概有两米，这样一个球形的工作空间，运动速度也很高，那么自由度的概念，就是说，是相对独立运动的部件的个数，就相当于我们人体，腰是一个回转的自由度，我们大臂可以抬起来，小臂可以弯曲，那么这就三个自由度，同时腕部还有一个调整姿态来使用的三个自由度，所以一般的机器人有六个自由度，就能把空间的三个位置，三个姿态，机器人完全实现，当然也有小于六个自由度的，也有多于六个自由度的机器人，只是在不同的需要场合来配置。

第二类是服务机器人，随着工业化的发展，尤其近十年以来，机器人的发展的应用领域在不断拓宽，目前一个很重要的特征，大家都知道，机器人已经从制造业逐渐转向了非制造业和服务行业，刚才谈的汽车制造属于是制造业，但服务行业包括清洁、加油、救护、抢险、救灾这些等等，都属于非制造行业和服务行业，那么这里边跟工业机器人相比，它有一个很重要的不同，它主要是一个移动平台，它能够移动、去运动，上面有一些手臂进行操作，同时还装有一些像力觉传感器和视觉传感器、超声测距传感器等等。它对周边的环境进行识别，来判断它的运动，完成某种工作，这是服务机器人的基本的一个特点。

例如，家务机器人主要体现在像一些对地毯和地板定期的它能够进行清扫和吸尘，它这个机器人很有意思，它有传感器，它能够把家具和人能识别出来，它自动的按照一种规律，能根据路径把地面全部的清扫干净，这也是家务中一些机器人的表现。

那么医疗机器人，是近五年来发展比较迅速的一个新的应用领域。如果人手术的时候，医生来手术，一个是疲劳，另一个人手操作的精度还是有限的。在德国一些大学里面，面向人的脊椎，如腰间盘突出这种病，进行识别以后，能够自动地用机器人来辅助进行定位，进行操作和手术。像美国已经有一千多例机器人对人眼球进行手术，这样的机器人，还包括通过遥控操作的办法，实现对人的胃肠这种手术，大家在电视里边看到，一个机械手，大概有手指这样粗细的一个机械手，通过插入腹脏以后，人在屏幕上操作这个机器手，同时对它用激光的方法对病灶进行激光的治疗，这样的话，人就不用很大幅度地破坏人的身体，这实际对人的一种解放，是非常好一种机器人，医疗机器人它也很复杂，一方面它完全自动去完成各种工作，是有困难的，一般来说都是人来参与，这是美国开发的一个林白手术这样一个例子，人通过在屏幕上，通过一个遥控操作手来控制另一个机械手，实现通过对人的腹腔进行手术，前几年我们国家展览会上，美国已经成功的实现了对人的心脏瓣膜的手术和搭桥手术，这已经在机器人领域中，引起了很大的轰动，还包括，AESOP的这种外科手术机器人，它实际上通过一些仪器能够对人的一些病变进行检查，通过一个机械手就能够实现对人的某些部位进行手术，还包括遥操作机械手，以及多个医生可以在机器人共同参与下进行手术，包括机器人给大夫医生拿钳子、镊子或刀子来代替护士的工作，同时把照明能够自动的给医生的动作联系起来，医生的手到哪儿，照明就去哪儿，这样非常好的，一个医生的助手。

机器人是人类的得力助手，能友好相处的可靠朋友，将来我们会看到人和机器人会存在一个空间里边，成为一个互相的助手和朋友。机器人会不会产生饭碗的问题。我们相信不会出现“机器人上岗，工人下岗”的局面，因为人们随着社会的发展，实际上把人们从繁重的体力和危险的环境中解放出来，使人们有更好的岗位去工作，去创造更好的精神财富和文化财富。