【正文】 oad of operators of plex 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 plex 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 mercially 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 realtime adjustment by the human operator. Presently, these ovemdes are input to the system through tactile mands (。 IEEE J. Robotics and . SMC16. pp. 1 1112 I. [6] Automation and Robotics for the National Space Program, California Space Institute Automation and Robotics Panel. Cal Space Repon CS118501, Feb. 25, 1985. [7] Advancing Automation and Robotics Technology for the Space Station and for the . Economy. Advanced Technology AdvisoryCommittee. NASA TM 87566. Mar. 1985. 使用語音識(shí)別技術(shù)控制的焊接機(jī)器人工作單元 摘要 ：本文論述了使用聲音識(shí)別技術(shù)的焊接機(jī)器人工作單元在工作過程中的效果 、程序編輯者接近 機(jī)器人 的安全﹑試行運(yùn)轉(zhuǎn)的必要性﹑焊接過程的控制變量﹑機(jī)器人操作者的動(dòng)作規(guī)范等因素給與考慮。這些措施包括數(shù)據(jù)的輸入 ﹑飛機(jī)的控制﹑和以安全為目的的語音識(shí)別。 這是一個(gè)復(fù)雜的系統(tǒng) ,涉及多個(gè)傳感器及控制投入各種機(jī)械操作件和 變化多樣的工藝參數(shù)。 目前 ,該系統(tǒng)投入 方案 是通過觸覺指令 (即 ： 推動(dòng)按鈕 . 旋轉(zhuǎn)電位計(jì) 、 或者 調(diào)整機(jī)械裝置 )。操作者按錯(cuò)按鈕的 可能 性 了 同樣的也會(huì)減少。 這對(duì)減少振蕩 ,使系統(tǒng)更加穩(wěn)定的 實(shí)現(xiàn)了 預(yù)期 的 價(jià)值 。 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(dòng) 時(shí)，這樣下去，他 可能 會(huì) 受 重傷。既可通過手工調(diào)節(jié)機(jī)制來控制送絲導(dǎo)管也可給自動(dòng)控制裝置發(fā)出移動(dòng)指令來進(jìn)行調(diào)整。 一個(gè)語音識(shí)別系統(tǒng) ， 可提供必要的安全 ， 使他們 那些久久是 獲得授權(quán) 的人 的聲音 ，才能被機(jī)器人系統(tǒng)識(shí)別。當(dāng)焊接條件改變的時(shí)候做一些有價(jià)值調(diào)整是很有必要的。 機(jī)器人 由于程序編輯和 實(shí)際需要 之間的偏差是通過俄亥俄州大學(xué)研究的精密的視覺傳感器來發(fā)現(xiàn)和糾正的。為研究這項(xiàng)技術(shù)， Votan VRT 6050聲音識(shí)別單機(jī)終端被引入到機(jī)器人的工作單元中。 圖 1焊接機(jī)器人系統(tǒng)設(shè)計(jì) 離散控制信號(hào) 在這個(gè)項(xiàng)目中，大多數(shù)控制電路是基于不同的數(shù)字信號(hào)。 為達(dá)到這一目標(biāo) ， 貞 技術(shù) 已 引 入緊急停止電路 的工作單元。 方案是通過操作者在軸配合正按鈕或負(fù) 按鈕 之間選擇來實(shí)現(xiàn)控制的。只因?yàn)檫@些信號(hào)很微弱才能達(dá)到目的。 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。 實(shí)驗(yàn)研究 在準(zhǔn)確性和反應(yīng)速度方面通過貞信號(hào)控制的各種焊接過程與原始的控制系統(tǒng)進(jìn)行了比較。 結(jié)論 今后的工作將會(huì)把語音控制技術(shù)應(yīng)用到焊絲填充速度焊絲填入溶池位置的控制，也會(huì)將該技術(shù)用在弧焊電壓控制上。 這一技術(shù)的未來發(fā)展將可迅速擴(kuò)展為機(jī)器人的應(yīng)用和 非機(jī)器人的處理 過程 。 IEEE J. Robotics and . SMC16. pp. 1 1112 I. [6] Automation and Robotics for the National Space Program, California Space Institute Automation and Robotics Panel. Cal Space Repon CS118501, Feb. 25, 1985. [7] Advancing Automation and Robotics Technology for the Space Station and for the . Economy. Advanced Technology AdvisoryCommittee. NASA TM 87566. Mar. 1985.