【正文】 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 010 V DC. These voltage values are converted to current levels from 0 to 300 A for welding. A digitaltoanalog 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 pared 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. . 1985. [2] National Research Council. Committee on Computerized Speech Recognition Speech Rerop1irior1 in severe Environments National Research . [3] E. J. Lerner. Talking to Your Aircraft. Aerospace America. vol. 24. no. 2. pp. 8588. 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. 8591. 1986. [5] A. Cohen and J. D. Erickson, ..Future Uses of Machine Intelligence and Robotics for the Space Station and Implications for the . Economy.39。 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。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(fā)生的可能性。 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。 另一方面 ，編輯系統(tǒng)程序權限的安全是 工業(yè)機器人 在作業(yè)環(huán)境中很重要的一個安全。 系統(tǒng)綜述 機器人工作系統(tǒng)的基本情況如圖表所示， 最終的系統(tǒng)開發(fā)工作 是編輯操作的程序和焊接過程生產線的控