第一篇：智能語音識別機器人文獻翻譯

改進型智能機器人的語音識別方法

2、語音識別概述

最近，由于其重大的理論意義和實用價值，語音識別已經受到越來越多的關注。到現在為止，多數的語音識別是基于傳統的線性系統理論，例如隱馬爾可夫模型和動態時間規整技術。隨著語音識別的深度研究，研究者發現，語音信號是一個復雜的非線性過程，如果語音識別研究想要獲得突破，那么就必須引進非線性系統理論方法。最近，隨著非線性系統理論的發展，如人工神經網絡，混沌與分形，可能應用這些理論到語音識別中。因此，本文的研究是在神經網絡和混沌與分形理論的基礎上介紹了語音識別的過程。

語音識別可以劃分為獨立發聲式和非獨立發聲式兩種。非獨立發聲式是指發音模式是由單個人來進行訓練，其對訓練人命令的識別速度很快，但它對與其他人的指令識別速度很慢，或者不能識別。獨立發聲式是指其發音模式是由不同年齡，不同性別，不同地域的人來進行訓練，它能識別一個群體的指令。一般地，由于用戶不需要操作訓練，獨立發聲式系統得到了更廣泛的應用。所以，在獨立發聲式系統中，從語音信號中提取語音特征是語音識別系統的一個基本問題。

語音識別包括訓練和識別，我們可以把它看做一種模式化的識別任務。通常地，語音信號可以看作為一段通過隱馬爾可夫模型來表征的時間序列。通過這些特征提取，語音信號被轉化為特征向量并把它作為一種意見，在訓練程序中，這些意見將反饋到HMM的模型參數估計中。這些參數包括意見和他們響應狀態所對應的概率密度函數，狀態間的轉移概率，等等。經過參數估計以后，這個已訓練模式就可以應用到識別任務當中。輸入信號將會被確認為造成詞，其精確度是可以評估的。整個過程如圖一所示。

圖1 語音識別系統的模塊圖

3、理論與方法

從語音信號中進行獨立揚聲器的特征提取是語音識別系統中的一個基本問題。解決這個問題的最流行方法是應用線性預測倒譜系數和Mel頻率倒譜系數。這兩種方法都是基于一種假設的線形程序，該假設認為說話者所擁有的語音特性是由于聲道共振造成的。這些信號特征構成了語音信號最基本的光譜結構。然而，在語音信號中，這些非線形信息不容易被當前的特征提取邏輯方法所提取，所以我們使用分型維數來測量非線形語音擾動。

本文利用傳統的LPCC和非線性多尺度分形維數特征提取研究并實現語音識別系統。

3.1線性預測倒譜系數

線性預測系數是一個我們在做語音的線形預分析時得到的參數，它是關于毗鄰語音樣本間特征聯系的參數。線形預分析正式基于以下幾個概念建立起來的，即一個語音樣本可以通過一些以前的樣本的線形組合來快速地估計，根據真實語音樣本在確切的分析框架（短時間內的）和預測樣本之間的差別的最小平方原則，最后會確認出唯一的一組預測系數。

LPC可以用來估計語音信號的倒譜。在語音信號的短時倒譜分析中，這是一種特殊的處理方法。信道模型的系統函數可以通過如下的線形預分析來得到：

其中p代表線形預測命令，（k=1，2，? ?，p）代表預測參數，脈沖響應用

。那么（1）式可以擴展為（2）式： h(n)來表示，假設h（n）的倒譜是

將（1）帶入（2），兩邊同時，（2）變成（3）。

就獲得了方程（4）：

那么 可以通過

來獲得。

（5）中計算的倒譜系數叫做LPCC，n代表LPCC命令。

在我們采集LPCC參數以前，我們應該對語音信號進行預加重，幀處理，加工和終端窗口檢測等，所以，中文命令字“前進”的端點檢測如圖2所示，接下來，斷點檢測后的中文命令字“前進”語音波形和LPCC的參數波形如圖3所示。

圖2 中文命令字“前進”的端點檢測

圖3 斷點檢測后的中文命令字“前進”語音波形和LPCC的參數波形

3.2 語音分形維數計算

分形維數是一個與分形的規模與數量相關的定值，也是對自我的結構相似性的測量。分形分維測量是[6-7]。從測量的角度來看，分形維數從整數擴展到了分數，打破了一般集拓撲學方面被整數分形維數的限制，分數大多是在歐幾里得幾何尺寸的延伸。

有許多關于分形維數的定義，例如相似維度，豪斯多夫維度，信息維度，相關維度，容積維度，計盒維度等等，其中，豪斯多夫維度是最古老同時也是最重要的，它的定義如【3】所示：

其中，表示需要多少個單位來覆蓋子集F.端點檢測后，中文命令詞“向前”的語音波形和分形維數波形如圖4所示。

圖4 端點檢測后，中文命令詞“向前”的語音波形和分形維數波形

3.3 改進的特征提取方法

考慮到LPCC語音信號和分形維數在表達上各自的優點，我們把它們二者混合到信號的特取中，即分形維數表表征語音時間波形圖的自相似性，周期性，隨機性，同時，LPCC特性在高語音質量和高識別速度上做得很好。

由于人工神經網絡的非線性，自適應性，強大的自學能力這些明顯的優點，它的優良分類和輸入輸出響應能力都使它非常適合解決語音識別問題。

由于人工神經網絡的輸入碼的數量是固定的，因此，現在是進行正規化的特征參數輸入到前神經網絡[9]，在我們的實驗中，LPCC和每個樣本的分形維數需要分別地通過時間規整化的網絡，LPCC是一個4幀數據（LPCC1,LPCC2,LPCC3,LPCC4，每個參數都是14維的），分形維數被模范化為12維數據，（FD1,FD2,?FD12，每一個參數都是一維），以便于每個樣本的特征向量有4*14+12*1=68-D維，該命令就是前56個維數是LPCC，剩下的12個維數是分形維數。因而，這樣的一個特征向量可以表征語音信號的線形和非線性特征。

自動語音識別的結構和特征

自動語音識別是一項尖端技術，它允許一臺計算機，甚至是一臺手持掌上電腦（邁爾斯，2000）來識別那些需要朗讀或者任何錄音設備發音的詞匯。自動語音識別技術的最終目的是讓那些不論詞匯量，背景噪音，說話者變音的人直白地說出的單詞能夠達到100%的準確率（CSLU，2002）。然而，大多數的自動語音識別工程師都承認這樣一個現狀，即對于一個大的語音詞匯單位，當前的準確度水平仍然低于90%。舉一個例子，Dragon's Naturally Speaking或者IBM公司，闡述了取決于口音，背景噪音，說話方式的基線識別的準確性僅僅為60%至80%(Ehsani & Knodt, 1998)。更多的能超越以上兩個的昂貴的系統有Subarashii(Bernstein, et al., 1999), EduSpeak(Franco, etal., 2001), Phonepass(Hinks, 2001), ISLE Project(Menzel, et al., 2001)and RAD(CSLU, 2003)。語音識別的準確性將有望改善。

在自動語音識別產品中的幾種語音識別方式中，隱馬爾可夫模型（HMM）被認為是最主要的算法，并且被證明在處理大詞匯語音時是最高效的(Ehsani & Knodt, 1998)。詳細說明隱馬爾可夫模型如何工作超出了本文的范圍，但可以在任何關于語言處理的文章中找到。其中最好的是Jurafsky & Martin(2000)and Hosom, Cole, and Fanty(2003)。簡而言之，隱馬爾可夫模型計算輸入接收信號和包含于一個擁有數以百計的本土音素錄音的數據庫的匹配可能性(Hinks, 2003, p.5)。也就是說，一臺基于隱馬爾可夫模型的語音識別器可以計算輸入一個發音的音素可以和一個基于概率論相應的模型達到的達到的接近度。高性能就意味著優良的發音，低性能就意味著劣質的發音(Larocca, et al., 1991)。

雖然語音識別已被普遍用于商業聽寫和獲取特殊需要等目的，近年來，語言學習的市場占有率急劇增加(Aist, 1999;Eskenazi, 1999;Hinks, 2003)。早期的基于自動語音識別的軟件程序采用基于模板的識別系統，其使用動態規劃執行模式匹配或其他時間規范化技術(Dalby & Kewley-Port,1999).這些程序包括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)。這些程序的大多數都不會提供任何反饋給超出簡單說明的發音準確率，這個基于最接近模式匹配說明是由用戶提出書面對話選擇的。學習者不會被告之他們發音的準確率。特別是內里，（2002年）評論例如Talk to Me和Tell Me More等作品中的波形圖，因為他們期待浮華的買家，而不會提供有意義的反饋給用戶。Talk to Me 2002年的版本已經包含了更多Hinks(2003)的特性，比如，信任對于學習者來說是非常有用的: ★ 一個視覺信號可以讓學習者把他們的語調同模型揚聲器發出的語調進行對比。★ 學習者發音的準確度通常以數字7來度量（越高越好）★ 那些發音失真的詞語會被識別出來并被明顯地標注。

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：智能機器人外文翻譯

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.機器人

機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經濟的發展和各行各業對自動化程度要求的提高，機器人技術得到了迅速發展，出現了各種各樣的機器人產品。機器人產品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業自動化的進程。目前，由于機器人的研制和開發涉及多方面的技術，系統結構復雜，開發和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經濟型、實用化、高可靠性機器人系統具有廣泛的社會現實意義和經濟價值。

由于我國經濟建設和城市化的快速發展，城市污水排放量增長很快，污水處理己經擺在了人們的議事日程上來。隨著科學技術的發展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發現塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產的自動化和高效率要求成為經濟發展的必然。

本文結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現的問題，綜述近幾年機器人技術研究和發展的狀況，在充分發揮機、電、軟、硬件各自特點和優勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統、驅動裝置和控制系統進行了分析和設計，提出了一套經濟型設計方案。采用直角坐標和關節坐標相結合的框架式機械結構形式，這種方式能夠提高系統的穩定性和操作靈活性。傳動裝置的作用是將驅動元件的動力傳遞給機器人機械手相應的執行機構，以實現各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅動系統的設計往往受到作業環境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收數字量，響應速度快而且工作可靠并無累積誤差，常用作數字控制系統驅動機構的動力元件，因此，在驅動裝置中采用由步進電機構成的開環控制方式，這種方式既能滿足控制精度的要求，又能達到經濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經行了分析。

在完成機械結構和驅動系統設計的基礎上，對物料抓取機械手運動學和動力學進行了分析。運動學分析是路徑規劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態隨關節夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統設計提供了理論依據。機器人動力學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了4 滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學進行了分析，計算出了關節力和關節力矩，為步進電機的選型和動力學分析與結構優化提供理論依據。

控制部分是整個物料抓取機械手系統設計關鍵和核心，它在結構和功能上的劃分和實現直接關系到機器人系統的可靠性、實用性，也影響和制約機械手系統的研制成本和開發周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業控制計算機作為主機，配以PCL-839卡主要承擔系統功能初始化、數據運算與處理、步進電機驅動以及故障診斷等功能;同時對PCL-839卡的結構特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統以及極限位置功能賴以存在的物質基礎，軟件則是計算機控制系統的神經中樞，軟件設計的目的是以最優的方式將各部分功能有機的結合起來，使系統具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統初始化模塊、數據處理模塊和故障狀態檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL-839卡聯系，并且由該卡實現抗干擾等問題，減少外部信號對系統的影響。

步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發送到步進電機驅動器的脈沖頻率，這可由硬件實現，也可由軟件方法來實現。本文提出了一種算法簡單、易于實現、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進電機加速度與其力矩——頻率曲線較好地擬合，從而提高變速效率。而且它的計算量比線性加速度變速和基于指數規律加速度的變速控制小得多。通過實驗證明了該方法的有效性。

最后，對論文主要研究內容和取得的技術成果進行了總結，提出了存在的問題和不足，同時對機器人技術的發展和應用進行了展望。

第三篇：外文翻譯--使用語音識別技術控制的焊接機器人工作單元-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.使用語音識別技術控制的焊接機器人工作單元

摘要：本文論述了使用聲音識別技術的焊接機器人工作單元在工作過程中的效果、程序編輯者接近機器人的安全﹑試行運轉的必要性﹑焊接過程的控制變量﹑機器人操作者的動作規范等因素給與考慮。在焊接過程控制和操作動作兩個方面，按照反應速度﹑定位精確性﹑焊接穩定性﹑焊接可靠性和安全性把人工聲音控制與手工觸覺控制和完全自動化控制進行了比較。

緒論

聲音識別技術已經成為可能緩解操作者工作負擔的一種有潛力的復雜系統。許多應用已經落實,或正陸續開發,或正在研究之中。這些措施包括數據的輸入﹑飛機的控制﹑和以安全為目的的語音識別。

許多應用語音控制技術還建議用于太空站.一個主要的應用領域將機器人控制功能用于太空艙內檢查、裝配、維修、衛星回收、維修衛星,是在船上服務的監督能力和系統運作模式的反饋.聲音感應器和過程控制的變數將使船員影響他手上的其它工作,例如直接控制或推翻的操縱議案。同樣,利用工作量控制機載實驗這種技術可以緩解許多工作負擔。

這份文件描述應用語音識別控制的焊接機器人工作單元。這是一個復雜的系統,涉及多個傳感器及控制投入各種機械操作件和變化多樣的工藝參數。雖然許多功能是自動化，且為人類監督管理能力所控制,但在必要時隨時準備超越這些功能。在當前的調查中，在美國航天局的馬歇爾空間飛行中心可供商業使用語音識別系統結合了焊接機器人工作單元的技術，這一技術作為試點的評價和開發先進技術并用于制造航天飛機主發動機。在系統開發中，有些功能尚不具備自動跟蹤控制,因此需要不斷地人力監測和實時調整操作。目前,該系統投入方案是通過觸覺指令(即： 推動按鈕.旋轉電位計、或者調整機械裝置)。由于操作過程中,主要監測者必須考慮在遠離的過程中尋找適當的按鈕或把手或靠像打字員一樣那種打字時的肌肉記憶。第二種情況，可能由于操作者的的二次反應而增加了錯誤發生的可能性。

一個語音識別系統可減少操作者的反應時間。操作者按錯按鈕的可能性了同樣的也會減少。并且,操作者勞累也會大大減小。

由于在方案運行的過程中操作者不斷監測，可以更快地觀察到運行狀況改變所帶來的影響。因此,如果超過了預期值,應該更快糾正,，但不能太過度。這對減少振蕩,使系統更加穩定的實現了預期的價值。

另一個因素是可以改善操作者的安全.。在一個安全的緊急情況下，機器人的操作者可以采取緊急停止來停止其運行，這種緊急停止模式一般來說是設置一個大按鈕，按慣例是一種經常用的方式。如果操作者無意中發現自己在危險的情況下，這時也許他有必要采取緊急停止這種模式。如果操作者不能夠按到的按鈕，可他也沒有能力采取必要的行動時，這樣下去，他可能會受重傷。如果操作者者能通過發出聲音指令來停止機器人的運行那將會大大的改善操作者的安全，即使操作者在不能按到緊急停止按鈕無法停止機器的情況下也將很安全。

手工調整有時候需要適應焊絲填充到焊接溶池中的位置。填充到正確合適的位置是焊接質量的關鍵。既可通過手工調節機制來控制送絲導管也可給自動控制裝置發出移動指令來進行調整。使用語音識別系統可以讓操作者者不必再把機器人控制效應得指令文件拿在手中，如自動控制裝置被使用，可以改善操作的反應速度和運行穩定性。

另一方面，編輯系統程序權限的安全是工業機器人在作業環境中很重要的一個安全。在任何情況下，任何未經授權的人能進入程序編輯模式，并且可以改變機器人的控制程序。一個語音識別系統，可提供必要的安全，使他們那些久久是獲得授權的人的聲音，才能被機器人系統識別。

背景

美國航天局正在開發焊接機器人并且焊接自動化設備來代替目前正在用手工焊接的航天飛機的主發動機。使用該機器人的程序，可以通過用手工來難以做到的焊接一致性和重復操作來達到減少焊接缺陷的比例。為此，焊接機可以編成控制額定的焊接通路和所需要的焊接過程參數，(即焊接電流、焊接速度、焊接電壓、送絲速度等)。當焊接條件改變的時候做一些有價值調整是很有必要的。一個人用手工來操作焊接時作出調整是很容易的，但是機器人的調節靠傳感器的智能和必要的人工操作者的方案調節。

系統綜述

機器人工作系統的基本情況如圖表所示，最終的系統開發工作是編輯操作的程序和焊接過程生產線的控制程序，下載這些程序到控制工作單元的電腦，然后使用子系統傳感器修正機器人的運行路徑和過程，使其可變。利用VAX 780/785-205電腦連接到彩色圖形處理工作站來進行圖表處理實現脫機設計。機器人由于程序編輯和實際需要之間的偏差是通過俄亥俄州大學研究的精密的視覺傳感器來發現和糾正的。這種傳感系統也設計成允許測量焊接溶池表面尺寸和改變電流大小來調節焊接溶池保持理想的形狀。目前，仍有許多功能人工控制，而且各個方面的功能都需要人工的操作。如前緒論中所述，引進聲音識別技術可以改進人工操作的準確性和反應速度。為研究這項技術，Votan VRT 6050聲音識別單機終端被引入到機器人的工作單元中。這個連續的語音識別系統可以提供多達10套，每套有75—150句話。

把語音識別系統的模擬和離散信號輸入控制。語音識別系統通過RS232-C的通信連接到控制主機。

圖1焊接機器人系統設計

離散控制信號

在這個項目中，大多數控制電路是基于不同的數字信號。這主要是用在一些國產性質的機器人控制器上的。通過語音識別技術控制的計算機來控制的電路系統是通過一種離散信號來控制，這種信號有緊急停止電路和積極響應和消極響應電路的功能。

因為任何自動化工作單元中操作者的安全是必須保障的,所以應把語音識別系統的安全也考慮在內。為達到這一目標，貞技術已引入緊急停止電路的工作單元。機器人工作單元中的緊急停止電路將會停止焊接過程的終止操作者的操作。通過使用數字貞信號，需要中斷焊接動力供電線路和機器人控制器的繼電器被廣泛使用。由于在這一工作單元中使用的語音識別技術這一安全系統，我們又增加了第三種供選擇的緊急停車的方案（除了現在已經有的緊急停車按鈕）。

方案是通過操作者在軸配合正按鈕或負按鈕之間選擇來實現控制的。一旦操作者選擇了軸，它可以在理想的距離之內控制負按鈕。這種功能的選用是通過控貞信號來控制的，因為貞信號的使用在自動操作中可以糾正運行的錯誤。在這一操作中有必要通過繼電器的正負極的地面信號來達到目的。只因為這些信號很微弱才能達到目的。他們可以通過貞信號遠距離控制。

模擬控制信號

有很多因素影響焊接過程的質量，但是焊接電流對焊接質量的影響絕不是一個小的因素。正因為如此，所以焊接電流被選擇為聲音識別系統控制的對象。

使用0—10V直流電壓來控制焊接電源從而控制電流大小，這種電壓可以使電流在焊接過程中從0—300A之間變化。數子—模擬轉化器配合的電路在廣泛的使用。這種轉換器允許貞信號控制電壓的大小從而使電源能提供合適的焊接電流。這種電路必須允許焊接電源通過工作單元中的其它輔助設備來控制。

實驗研究

在準確性和反應速度方面通過貞信號控制的各種焊接過程與原始的控制系統進行了比較。目前焊接機器人操作的的輸入誤差提和焊接電流已經被引入到機器人程序中。通過圖表記錄了系統相關的信號，可以通過操作者發覺錯誤和糾正這一錯誤所需要的時間來衡量。反應的準確性和穩定性也可以通過類似的記錄儀器來分析系統信號的輸入。

結論

今后的工作將會把語音控制技術應用到焊絲填充速度焊絲填入溶池位置的控制，也會將該技術用在弧焊電壓控制上。以后，那些現在在機器人編程受到限制的的方案在采用語音識別技術之后有可能實現。

利用語音識別技術控制工業機器人系統非常有前景的。由于航空焊接需要大量人力監管過程實時參數控制所以這項技術已申請用于航空焊接。這一技術的未來發展將可迅速擴展為機器人的應用和非機器人的處理過程。

致謝

在此特別感謝Martin Marietta 公司的Mr.Jeff Hudson協助編作本篇論文。

參考文獻

[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：智能避障機器人設計外文翻譯

外文翻譯

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

外文翻譯

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

外文翻譯

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

外文翻譯

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

外文翻譯

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

外文翻譯

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.外文翻譯

智能車

我們的社會充斥著各種各樣的“機器智能“。在過去的世紀，我們目睹越來越多日常生活中的“苦差事“被機器設備解決，如洗衣機。

然而，一個既枯燥又危險的保留區域就是日常駕駛汽車。2002年，120萬人死于交通事故，這是所有全球2.1％死亡，死因排名第11。如果這種趨勢繼續下去，估計從2020年起每一年死于道路交通統（ITS）。20世紀90年代中后期開始，它的系統進行了開發和部署。在發達國事故的人將達到850萬人。事實上，美國交通部估計交通事故的整體社會成本每年超過2300億美元。

數百或數千輛車共享相同的道路時，就導致了大家都熟悉的交通擠塞。交通擠塞破壞了我們的生活質量就像空氣污染損害公眾健康。1990年左右，公路運輸的專業人士開始申請讓他們在交通和道路管理。于是誕生了智能交通系家，旅客今天能夠獲得旅行條件的信息，無論是駕駛自己的車或乘坐公共交通系統。

隨著世界能源危機的持續，以及戰爭和能源-----石油的消耗及汽車飽有量的增加，能源在一天一天下降，終有一天它會消失的無影無蹤。石油不是在生資源。所以必須在石油耗凈之前找到一種代替品。隨著科技的發展社會的進步，有人發明了電動汽車。電動汽車將成為人們最為理想的交通工具。

世界在各各方面的發展都取得豐碩成果，尤其是隨著汽車電子技術和計算機以及發展迅速的信息時代。電子控制技術在汽車上得到了廣泛應用，汽車上應用的電子裝置越來越豐富，電子技術不僅用來改善和提高傳統汽車電器的質量和性能，而且還提高了汽車的動力性、燃油經濟性、可靠性以及廢氣排放的凈化性。汽車上廣泛使用電子產品不僅降低了成本，并且減少維護的復雜性。從發動機的燃油噴射點火裝置、進氣控制、廢氣排放控制、故障自診斷到車身輔助裝置都普遍采用了電子控制技術，可以說今后汽車發展主要以機電一體化。汽車上廣泛采用的電子控制點火系統主要有電子控制燃油噴射系統、電子控制點火系統、電子控制自動變速器、電子控制防滑（ABS/ASR）控制系統、電子控制懸架系統、電子控制動力轉向系統、車輛動力學控制系統、安全氣囊系統、主動安全帶系統、電子控制自動空調系統、導航系統還有GPS等。有了這些系

外文翻譯

統汽車響應敏捷，使用功能強，可靠性高，既保證發動機動力又降低燃油的消耗，而且又滿足排放法規的標準。

汽車是現代人必不可少的交通工具。而電動汽車給我們帶來無限樂趣外還能給我們勞累一天的身心得以放松。就拿自動變速器來說吧，汽車在行駛時，可以不踩離合器踏板，就可以實現自動換檔而發動機不會熄火，這樣有效的提高駕駛方便性減輕駕駛員的疲勞強度。自動變速器主要由液力變矩器、齒輪變速器、油泵、液壓控制系統、電子控制系統、油冷卻系統等組成。電子控制的懸架主要是用來緩沖路面對車身的沖擊力以及減少振動保證汽車平順性和操縱穩定性。當汽車行駛在不平坦的道路時汽車能能根據底盤和路面高度自動調整。當車高比設置的高度低時，就向氣室或油缸充氣或充油。如果是相反，就放氣或瀉油。從而保證汽車的水平行駛，提高行駛穩定性。可變力動力轉向系統因能顯著改變駕駛員的工作效率和狀態，所以在電動汽車上廣泛使用。VDC對汽車性能有著至關重要的作用它能根據需要主動對車輪進行制動來改變汽車的運動狀態，使汽車達到最佳的行駛狀態和操縱性能，并增加了汽車的附著性，控制性和穩定性。除了這些之外4WS、4WD的出現大大提高了電動汽車的價值與性能同步提升。ABS具有減少制動距離并能保持轉向操作能力有效提高行駛方向的穩定性同時減少輪胎的磨損。安全氣囊的出現在很大程序上保護了駕駛員和乘客的安全，大大降低汽車在碰撞時對駕駛員和乘客的緩沖，以過到保護生命安全的目的。

智能電子技術在汽車上得以推廣使得汽車在安全行駛和其它功能更上一層樓。通過各種傳感器實現自動駕駛。除些之外智能汽車裝備有多種傳感器能充分感知交通設施及環境的信息并能隨時判斷車輛及駕駛員是否處于危險之中，具備自主尋路、導航、避撞、不停車收費等功能。有效提高運輸過程中的安全，減少駕駛員的操縱疲勞度，提高乘客的舒適度。當然蓄電池是電動汽車的關鍵，電動汽車用的蓄電池主要有：鉛酸蓄電池、鎳鎘蓄電池、鈉硫蓄電池、鈉硫蓄電池、鋰電池、鋅―空氣電池、飛輪電池、燃料電池和太陽能電池等。在諸多種電池中，燃料電池是迄今為止最有希望解決汽車能源短缺問題的動力源。燃料電池具有高效無污染的特性，不同于其他蓄電池，其不需要充電，只要外部不斷地供給燃料，就能連續穩定地發電。燃料電池汽車(FCEV)具有可與內燃機汽車媲美的動力性能，在排放、燃油經濟性方面明顯優于內燃機車輛。

外文翻譯

隨著計算機和電子產品不斷開級換代，電動汽車技術也在日趨成熟與完善，使得駕駛更安全、方便、靈活、舒適。電動汽車真正能夠與傳統的燃油汽車相競爭，今后汽車市場終會被電動汽車和智能汽車所取代。這只是時間性的問題這一天終究會來到的。ABS、GPS、4WS、4WD以及各種新時代的電子產品與現代高性能汽車默契組合、絕妙搭配，帶給我們無與倫比的精準駕駛舒適性和行駛安全性。

以AVR 單片機為核心, 提出了一種智能探測小車的軟硬件設計方案。系統可以預先設定小車的行走路線, 能夠實現小車與計算機之間的無線通訊, 通過超聲測物和紅外測障電路使小車安全行走。另外, 系統通過JTAG 接口在線調試程序。軟件設計中采用神經網絡自學習, 大大增強了小車的智能化.執行元件的伺服系統性能將決定機器人的性能。基于AVR 系列單片機，并應用積分分離技術，設計離散PI 調節器，輸出PWM 控制信號，建立驅動電機的速度伺服控制系統。使用AVR － GCC 編譯軟件開發伺服系統軟件，設定速度采樣頻率為2KHz，實現對電機速度的實時控制。與基于51 系列單片機開發的伺服系統相比，本系統所需的外圍電路更簡單，數據處理速度更快。實現了機器人響應快速，移動平穩。該伺服系統的開發尤其適用于智能移動機器人，還可以廣泛應用于其它智能設備和生產線。

提出了一種基于AVR 單片機Atmega8 為核心控制器的比賽機器人控制系統,通過比賽機器人的特征分析,闡述了構成控制系統所需的主控單元、電機驅動單元、傳感檢測單元及LCD 顯示單元,其中詳細分析了以MCBL3006S 為核心的伺服電機驅動單元,以及關系比賽機器人基本功能實現的循線傳感系統及避障傳感系統,并給出部分程序。最后通過實踐表明,該控制系統開放性好、結構簡單、編程容易、智能并高效。

智能車的避障規則，通過對紅外傳感器的信息進行采集,使用二極管D1 發射紅外線，二極管D2 接收紅外信號。紅外線發射部分不設專門的信號發生電路，直接從單片機實現時鐘頻率，既簡化了線路和調試工作，又能使電路的穩定性和抗干擾能力大大加強。經實驗驗證，該系統運行可靠，達到了設計要求。

介紹一種基于CCD 攝像頭的路徑識別的智能車控制系統, 設計了硬件結構與方案, 提出了轉向機構的控制策略, 該智能車能準確實現自主尋跡, 具備抗干擾性極強, 穩態誤差小等特點。

外文翻譯

智能車系統，包括傳感器信息采集與處理、電機驅動、控制算法及控制策略等方面。采用激光傳感器采集道路信息并反饋給單片機控制系統，通過軟件進行相關分析處理，通過速度反饋和PID 算法控制舵機轉向和智能車速度。通過實際運行驗證，本方法使智能車運行穩定、可靠,其平均速度達到2.6m/s，得到比較理想的效果。

為了綜合利用控制、模式識別、傳感器技術、汽車電子、電氣、計算機、機械等專業領域知識, 設計實現了一個基于PID 控制算法, CCD 檢測系統, 并采用H C9SDG128 單片機作為主控芯片的智能車系統。該系統使用Codewar rio r IDE 集成開發環境作為程序設計的基本軟件平臺, 能利用攝像頭自動識別路況, 進行圖像處理, 進而調整方向沿預定軌道前行, 具有很強的可靠性、穩定性、快速性、擴展性。

以“飛思卡爾”杯智能車大賽為研究背景，開發了一種智能循跡小車。該小車采用光電傳感器檢測路徑，獲得賽道信息，求出小車與黑線間的偏差，采用模糊控制對小車的速度進行控制，使小車能夠自動跟隨直道和彎道。實踐表明，采用模糊控制的智能小車在路徑識別的精準度，穩定性，及速度控制上具有明顯優勢。

第五篇：機器人外文翻譯(文獻翻譯_中英文翻譯)

外文翻譯

外文資料：

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.譯文資料：

機器人

首先我介紹一下機器人產生的背景，機器人技術的發展，它應該說是一個科學技術發展共同的一個綜合性的結果，同時，為社會經濟發展產生了一個重大影響的一門科學技術，它的發展歸功于在第二次世界大戰中各國加強了經濟的投入，就加強了本國的經濟的發展。另一方面它也是生產力發展的需求的必然結果，也是人類自身發展的必然結果，那么隨著人類的發展，人們在不斷探討自然過程中，在認識和改造自然過程中，需要能夠解放人的一種奴隸。那么這種奴隸就是代替人們去能夠從事復雜和繁重的體力勞動，實現人們對不可達世界的認識和改造，這也是人們在科技發展過程中的一個客觀需要。

機器人有三個發展階段，那么也就是說，我們習慣于把機器人分成三類，一種是第一代機器人，那么也叫示教再現型機器人，它是通過一個計算機，來控制一個多自由度的一個機械，通過示教存儲程序和信息，工作時把信息讀取出來，然后發出指令，這樣的話機器人可以重復的根據人當時示教的結果，再現出這種動作，比方說汽車的點焊機器人，它只要把這個點焊的過程示教完以后，它總是重復這樣一種工作，它對于外界的環境沒有感知，這個力操作力的大小，這個工件存在不存在，焊的好與壞，它并不知道，那么實際上這種從第一代機器人，也就存在它這種缺陷，因此，在20世紀70年代后期，人們開始研究第二代機器人，叫帶感覺的機器人，這種帶感覺的機器人是類似人在某種功能的感覺，比如說力覺、觸覺、滑覺、視覺、聽覺和人進行相類比，有了各種各樣的感覺，比方說在機器人抓一個物體的時候，它實際上力的大小能感覺出來，它能夠通過視覺，能夠去感受和識別它的形狀、大小、顏色。抓一個雞蛋，它能通過一個觸覺，知道它的力的大小和滑動的情況。第三代機器人，也是我們機器人學中一個理想的所追求的最高級的階段，叫智能機器人，那么只要告訴它做什么，不用告訴它怎么去做，它就能完成運動，感知思維和人機通訊的這種功能和機能，那么這個目前的發展還是相對的只是在局部有這種智能的概念和含義，但真正完整意義的這種智能機器人實際上并沒有存在，而只是隨著我們不斷的科學技術的發展，智能的概念越來越豐富，它內涵越來越寬。

下邊我簡單介紹一下工業機器人的一些情況。到目前為止，工業機器人是最成熟，應用最廣泛的一類機器人，世界總量目前已經銷售110萬臺，這是1999年的統計，但這110萬臺在已經進行裝備使用的是75萬臺，這個量也是不小的。總體情況看，日本在工業機器人這一塊，是首位的，成為機器人的王國，美國發展也很迅速，目前在新安裝的臺數方面，已經超過了日本，中國剛開始進入產業化的階段，已經研制出多種工業機器人樣機，已有小批量在生產中使用。

點焊機器人主要是針對汽車生產線，提高生產效率，提高汽車焊接的質量，降低工人的勞動強度的一種機器人。它的特點是通過機器人對兩個鋼板進行點焊的時候，需要承載一個很大的焊鉗，一般在幾十公斤以上，那么它的速度要求在每秒鐘一米五到兩米這樣的高速運動，所以它一般來說有五到六個自由度，負載三十到一百二十公斤，工作的空間很大，大概有兩米，這樣一個球形的工作空間，運動速度也很高，那么自由度的概念，就是說，是相對獨立運動的部件的個數，就相當于我們人體，腰是一個回轉的自由度，我們大臂可以抬起來，小臂可以彎曲，那么這就三個自由度，同時腕部還有一個調整姿態來使用的三個自由度，所以一般的機器人有六個自由度，就能把空間的三個位置，三個姿態，機器人完全實現，當然也有小于六個自由度的，也有多于六個自由度的機器人，只是在不同的需要場合來配置。

第二類是服務機器人，隨著工業化的發展，尤其近十年以來，機器人的發展的應用領域在不斷拓寬，目前一個很重要的特征，大家都知道，機器人已經從制造業逐漸轉向了非制造業和服務行業，剛才談的汽車制造屬于是制造業，但服務行業包括清潔、加油、救護、搶險、救災這些等等，都屬于非制造行業和服務行業，那么這里邊跟工業機器人相比，它有一個很重要的不同，它主要是一個移動平臺，它能夠移動、去運動，上面有一些手臂進行操作，同時還裝有一些像力覺傳感器和視覺傳感器、超聲測距傳感器等等。它對周邊的環境進行識別，來判斷它的運動，完成某種工作，這是服務機器人的基本的一個特點。

例如，家務機器人主要體現在像一些對地毯和地板定期的它能夠進行清掃和吸塵，它這個機器人很有意思，它有傳感器，它能夠把家具和人能識別出來，它自動的按照一種規律，能根據路徑把地面全部的清掃干凈，這也是家務中一些機器人的表現。

那么醫療機器人，是近五年來發展比較迅速的一個新的應用領域。如果人手術的時候，醫生來手術，一個是疲勞，另一個人手操作的精度還是有限的。在德國一些大學里面，面向人的脊椎，如腰間盤突出這種病，進行識別以后，能夠自動地用機器人來輔助進行定位，進行操作和手術。像美國已經有一千多例機器人對人眼球進行手術，這樣的機器人，還包括通過遙控操作的辦法，實現對人的胃腸這種手術，大家在電視里邊看到，一個機械手，大概有手指這樣粗細的一個機械手，通過插入腹臟以后，人在屏幕上操作這個機器手，同時對它用激光的方法對病灶進行激光的治療，這樣的話，人就不用很大幅度地破壞人的身體，這實際對人的一種解放，是非常好一種機器人，醫療機器人它也很復雜，一方面它完全自動去完成各種工作，是有困難的，一般來說都是人來參與，這是美國開發的一個林白手術這樣一個例子，人通過在屏幕上，通過一個遙控操作手來控制另一個機械手，實現通過對人的腹腔進行手術，前幾年我們國家展覽會上，美國已經成功的實現了對人的心臟瓣膜的手術和搭橋手術，這已經在機器人領域中，引起了很大的轟動，還包括，AESOP的這種外科手術機器人，它實際上通過一些儀器能夠對人的一些病變進行檢查，通過一個機械手就能夠實現對人的某些部位進行手術，還包括遙操作機械手，以及多個醫生可以在機器人共同參與下進行手術，包括機器人給大夫醫生拿鉗子、鑷子或刀子來代替護士的工作，同時把照明能夠自動的給醫生的動作聯系起來，醫生的手到哪兒，照明就去哪兒，這樣非常好的，一個醫生的助手。

機器人是人類的得力助手，能友好相處的可靠朋友，將來我們會看到人和機器人會存在一個空間里邊，成為一個互相的助手和朋友。機器人會不會產生飯碗的問題。我們相信不會出現“機器人上崗，工人下崗”的局面，因為人們隨著社會的發展，實際上把人們從繁重的體力和危險的環境中解放出來，使人們有更好的崗位去工作，去創造更好的精神財富和文化財富。