外文翻譯---使用語音識別技術控制的焊接機器人工作單元-其他專業(yè)(編輯修改稿)
2025-02-24 09:20 本頁面
【文章內容簡介】 ides 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 standalone voice recognition terminal has been integrated into the workcell. This system provides continuous speech recognition of up to 10 sets of words with 75150 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 puter through a standard RS232C munications link. Discrete Control Signals In this project, most of the control circuitry is based on discrete digital is due to the on/off state nature of the circuits to be controlled in the robot circuits of the system to be controlled by the voice recognition control puter (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 acplish 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 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 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 motio
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