【正文】 然而機器人最初是開發(fā)用于骯臟、枯燥和危險的應用程序，現在它們已經被看作是人類的助手了。同時，社會發(fā)展的趨勢也開始成為將機器人結合到從娛樂到衛(wèi)生保健的日常生活中。Rossum 項目希望將類似的協(xié)作擴展到機器人軟件的開發(fā)。 語言RoboML（機器人標記語言）： RoboML用于與機器人技術相關的數據的標準化表達。RCS 庫使向多種 UNIX 和微軟的平臺移植變得容易，它向操作系統(tǒng)資源提供了一種中性的應用程序編程接口（application programming interface，API），如共享的內存、信號量和計時器。TCA 提供了一種高級的獨立于機器的方法，可以在分布式機器之間發(fā)送消息（包括在 Lisp和 C 進程之間）。類可以用C++、用 C（使用一種稱為 C 中的對象的方法）、用 Python 或用 LabView（使用 G 編程語言）編寫。設備服務程序可以用 C++ 或 Java 編寫。每個獨立的軟件部分通過 IDL（Interface Definition Language，接口定義語言）的方式向 ORB 注冊它本身及其功能。MCU 經?？梢圆恍枰獠坎考湍苓\行，一般只需要一個外部晶體或振蕩器。 微控制器系統(tǒng)微控制器（Microcontrollers，MCU）是機器人內部使用的智能電子設備。變換器（transducer）一詞經常與傳感器一詞交替使用。 多數系統(tǒng)中對時間的感知是通過電路和編程中內建的。經典的組件是橋式繼電器。一般可充電電池第一次使用可以為電器或機器人提供 4 小時連續(xù)工作的能源。電源電源一般通過兩種電池提供?；喪禽喚売邪疾鄣妮喿?，皮帶是可以放進這個凹槽的橡皮圈。驅動機制齒輪和鏈條： 齒輪和鏈條是機械平臺，它提供了一種向另一個地方傳送轉動動作的強大而精確的途徑（可能在傳送的時候改變了動作）。還需要某種力（如電力）讓輪子在命令時轉動。關節(jié)手臂被用于焊接和上漆；起重機和傳送帶系統(tǒng)在工廠中運送零件；巨型機器人機器搬運礦井深處的泥土。至少，一個行星漫步者必須具備某種傳感輸入源、某種解釋該輸入的方法和修改它的行動以響應改變著的世界的方法。s take a look at some of the mechanical devices that are currently being used in modern robotics technology. Driving mechanismsGears and chains: Gears and chains are mechanical platforms that provide a strong and accurate way to transmit rotary motion from one place to another, possibly changing it along the way. The speed change between two gears depends upon the number of teeth on each gear. When a powered gear goes through a full rotation, it pulls the chain by the number of teeth on that gear. Pulleys and belts: Pulleys and belts, two other types of mechanical platforms used in robots, work the same way as gears and chains. Pulleys are wheels with a groove around the edge, and belts are the rubber loops that fit in that groove. Gearboxes: A gearbox operates on the same principles as the gear and chain, without the chain. Gearboxes require closer tolerances, since instead of using a large loose chain to transfer force and adjust for misalignments, the gears mesh directly with each other. Examples of gearboxes can be found on the transmission in a car, the timing mechanism in a grandfather clock, and the paperfeed of your printer.Power suppliesPower supplies are generally provided by two types of battery. Primary batteries are used once and then discarded。Introduction to robotics technologyIn the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, oneofkind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon without radio munication might run into unexpected situations. At a minimum, a pl