外文翻译机器人技术简介

1、外文翻译-机器人技术简介IntroductiontoroboticstechnologyInthemanufacturingfield,robotdevelopmenthasfocusedonengineeringroboticarmsthatperformmanufacturingprocesses.Inthespaceindustry,roboticsfocusesonhighlyspecialized,one-of-kindplanetaryrovers.Unlikeahighlyautomatedmanufacturingplant,aplanetaryroveroperatingon

2、thedarksideofthemoon-withoutradiocommunication-mightrunintounexpectedsituations.Ataminimum,aplanetaryrovermusthavesomesourceofsensoryinput,somewayofinterpretingthatinput,andawayofmodifyingitsactionstorespondtoachangingworld.Furthermore,theneedtosenseandadapttoapartiallyunknownenvironmentrequiresinte

3、lligence(inotherwords,artificialintelligence).Mechanicalplatforms-thehardwarebaseArobotconsistsoftwomainparts:therobotbodyandsomeformofartificialintelligence(AI)system.Manydifferentbodypartscanbecalledarobot.Articulatedarmsareusedinweldingandpainting;gantryandconveyorsystemsmovepartsinfactories;andg

4、iantroboticmachinesmoveearthdeepinsidemines.Oneofthemostinterestingaspectsofrobotsingeneralistheirbehavior,whichrequiresaformofintelligence.Thesimplestbehaviorofarobotislocomotion.Typically,wheelsareusedastheunderlyingmechanismtomakearobotmovefromonepointtothenext.Andsomeforcesuchaselectricityisrequ

5、iredtomakethewheelsturnundercommand.MotorsAvarietyofelectricmotorsprovidepowertorobots,allowingthemtomovematerial,parts,tools,orspecializeddeviceswithvariousprogrammedmotions.Theefficiencyratingofamotordescribeshowmuchoftheelectricityconsumedisconvertedtomechanicalenergy.Letstakealookatsomeofthemech

6、anicaldevicesthatarecurrentlybeingusedinmodernroboticstechnology.DrivingmechanismsGearsandchains:Gearsandchainsaremechanicalplatformsthatprovideastrongandaccuratewaytotransmitrotarymotionfromoneplacetoanother,possiblychangingitalongtheway.Thespeedchangebetweentwogearsdependsuponthenumberofteethoneac

7、hgear.Whenapoweredgeargoesthroughafullrotation,itpullsthechainbythenumberofteethonthatgear.Pulleysandbelts:Pulleysandbelts,twoothertypesofmechanicalplatformsusedinrobots,workthesamewayasgearsandchains.Pulleysarewheelswithagroovearoundtheedge,andbeltsaretherubberloopsthatfitinthatgroove.Gearboxes:Age

8、arboxoperatesonthesameprinciplesasthegearandchain,withoutthechain.Gearboxesrequireclosertolerances,sinceinsteadofusingalargeloosechaintotransferforceandadjustformisalignments,thegearsmeshdirectlywitheachother.Examplesofgearboxescanbefoundonthetransmissioninacar,thetimingmechanisminagrandfatherclock,

9、andthepaper-feedofyourprinter.PowersuppliesPowersuppliesaregenerallyprovidedbytwotypesofbattery.Primarybatteriesareusedonceandthendiscarded;secondarybatteriesoperatefroma(mostly)reversiblechemicalreactionandcanberechargedseveraltimes.Primarybatterieshavehigherdensityandalowerself-dischargerate.Secon

10、dary(rechargeable)batterieshavelessenergythanprimarybatteries,butcanberechargeduptoathousandtimesdependingontheirchemistryandenvironment.Typicallythefirstuseofarechargeablebatterygives4hoursofcontinuousoperationinanapplicationorrobot.SensorsRobotsreactaccordingtoabasictemporalmeasurement,requiringdi

11、fferentkindsofsensors.Inmostsystemsasenseoftimeisbuilt-inthroughthecircuitsandprogramming.Forthistobeproductiveinpractice,arobothastohaveperceptualhardwareandsoftware,whichupdatesquickly.Regardlessofsensorhardwareorsoftware,sensingandsensorscanbethoughtofasinteractingwithexternalevents(inotherwords,

12、theoutsideworld).Thesensormeasuressomeattributeoftheworld.Thetermtransducerisoftenusedinterchangeablywithsensor.Atransduceristhemechanism,orelement,ofthesensorthattransformstheenergyassociatedwithwhatisbeingmeasuredintoanotherformofenergy.Asensorreceivesenergyandtransmitsasignaltoadisplayorcomputer.

13、Sensorsusetransducerstochangetheinputsignal(sound,light,pressure,temperature,etc.)intoananalogordigitalformcapableofbeingusedbyarobot.MicrocontrollersystemsMicrocontrollers(MCUs)areintelligentelectronicdevicesusedinsiderobots.Theydeliverfunctionssimilartothoseperformedbyamicroprocessor(centralproces

14、singunit,orCPU)insideapersonalcomputer.MCUsareslowerandcanaddresslessmemorythanCPUs,butaredesignedforreal-worldcontrolproblems.OneofthemajordifferencesbetweenCPUsandMCUsisthenumberofexternalcomponentsneededtooperatethem.MCUscanoftenrunwithzeroexternalparts,andtypicallyneedonlyanexternalcrystalorosci

15、llator.UtilitiesandtoolsROBOOP(AroboticsobjectorientedpackageinC+):Thispackageisanobject-orientedtoolboxinC+forroboticssimulation.TechnicalreferencesanddownloadsareprovidedintheResources.Areal-timecommunicationsandobjectrequestbrokersoftwareCORBA:packageforembeddingdistributedsoftwareagents.Eachinde

16、pendentpieceofsoftwareregistersitselfanditscapabilitiestotheORB,bymeansofanIDL(InterfaceDefinitionLanguage).VisittheirWebsite(seeResources)fortechnicalinformation,downloads,anddocumentationforCORBA.TANGO/TACO:Thissoftwaremightbeusefulforcontrollingaroboticssystemwithmultipledevicesandtools.TANGOisan

17、objectorientedcontrolsystembasedonCORBA.DeviceserverscanbewritteninC+orJava.TACOisobjectorientedbecauseittreatsall(physicalandlogical)controlpointsinacontrolsystemasobjectsinadistributedenvironment.Allactionsareimplementedinclasses.Newclassescanbeconstructedoutofexistingclassesinahierarchicalmanner,

18、therebyensuringahighlevelofsoftwarereuse.ClassescanbewritteninC+,inC(usingamethodologycalledObjectsinC),inPythonorinLabView(usingtheGprogramminglanguage).ControllersTheTaskControlArchitecture(TCA)simplifiesTaskControlArchitecture:buildingtask-levelcontrolsystemsformobilerobots.Task-levelreferstothei

19、ntegrationandcoordinationofperception,planning,andrealtimecontroltoachieveagivensetofgoals(tasks).TCAprovidesageneralcontrolframework,andisintendedtocontrolawidevarietyofrobots.TCAprovidesahigh-levelmachine-independentmethodforpassingmessagesbetweendistributedmachines(includingbetweenLispandCprocess

20、es).TCAprovidescontrolfunctions,suchastaskdecomposition,monitoring,andresourcemanagement,thatarecommontomanymobilerobotapplications.TheResourcessectionprovidestechnicalreferencesanddownloadinformationforTaskControlArchitecture.EMC(EnhancedMachineController):TheEMCsoftwareisbasedontheNISTRealtimeCont

21、rolSystem(RCS)methodology,andisprogrammedusingtheNISTRCSLibrary.TheRCSLibraryeasestheportingofcontrollercodetoavarietyofUNIXandMicrosoftplatforms,providinganeutralapplicationprogramminginterface(API)tooperatingsystemresourcessuchassharedmemory,semaphoresandtimers.TheEMCsoftwareiswritteninCandC+,andh

22、asbeenportedtothePCLinux,WindowsNT,andSunSolarisoperatingsystems.Darwin2K:Darwin2Kisafree,opensourcetoolkitforrobotsimulationandautomateddesign.Itfeaturesnumeroussimulationcapabilitiesandanevolutionaryalgorithmcapableofautomaticallysynthesizingandoptimizingrobotdesignstomeettask-specificperformanceo

23、bjectives.LanguagesRoboML(RoboticMarkupLanguage):RoboMLisusedforstandardizedrepresentationofrobotics-relateddata.Itisdesignedtosupportcommunicationlanguagebetweenhuman-robotinterfaceagents,aswellasbetweenrobot-hostedprocessesandbetweeninterfaceprocesses,andtoprovideaformatforarchiveddatausedbyhuman-

24、robotinterfaceagents.ROSSUM:Aprogrammingandsimulationenvironmentformobilerobots.TheRossumProjectisanattempttohelpcollect,develop,anddistributesoftwareforroboticsapplications.TheRossumProjecthopestoextendthesamekindofcollaborationtothedevelopmentofroboticsoftware.XRCL(pronouncedzircle)isXRCL(Extensib

25、leRobotControlLanguage):arelativelysimple,modernlanguageandenvironmentdesignedtoallowroboticsresearcherstoshareideasbysharingcode.Itisanopensourceproject,protectedbytheGNUCopyleft.SummaryThefieldofroboticshascreatedalargeclassofrobotswithbasicphysicalandnavigationalcompetencies.Atthesametime,society

26、hasbeguntomovetowardsincorporatingrobotsintoeverydaylife,fromentertainmenttohealthcare.Moreover,robotscouldfreealargenumberofpeoplefromhazardoussituations,essentiallyallowingthemtobeusedasreplacementsforhumanbeings.ManyoftheapplicationsbeingpursuedbyAIroboticsresearchersarealreadyfulfillingthatpoten

27、tial.Inaddition,robotscanbeusedformorecommonplacetaskssuchasjanitorialwork.Whereasrobotswereinitiallydevelopedfordirty,dull,anddangerousapplications,theyarenowbeingconsideredaspersonalassistants.Regardlessofapplication,robotswillrequiremoreratherthanlessintelligence,andwilltherebyhaveasignificantimp

28、actonoursocietyinthefutureastechnologyexpandstonewhorizons.外文出处:Robotictechnology/editedbyA.Pugh./P.Peregrinus,c1993.附件1:外文资料翻译译文机器人技术简介在制造业领域，机器人的开发集中在执行制造过程的工程机器人手臂上。在航天工业中，机器人技术集中在高度专业的一种行星漫步者上。不同于一台高度自动化的制造业设备，行星漫步者在月亮黑暗的那一面工作没有无线电通讯可能碰到意外的情况。至少，一个行星漫步者必须具备某种传感输入源、某种解释该输入的方法和修改它的行动以响应改变着的世界的方法。此

29、外，对感知和适应一个部分未知的环境的需求需要智能（换句话说就是人工智能）。机械平台,硬件基础一个机器人包括两个主要部分:机器人的身体和某种形式的人工智能（artificialintelligence，AI）系统。很多不同的身体部分都可以叫做机器人。关节手臂被用于焊接和上漆;起重机和传送带系统在工厂中运送零件;巨型机器人机器搬运矿井深处的泥土。一般说来，机器人最有趣的一个方面是它们的行为，这需要一种形式的智能。机器人最简单的行为是移动。典型地，轮子被作为让机器人从一点移动到下一点的基本机械装置。还需要某种力（如电力）让轮子在命令时转动。电动机很多种电动机向机器人提供能源，让它们用不同的编程动作搬

30、运材料、零件、工具或专用设备。电动机的效率等级表明多少消耗的电量转化成机械能。让我们看看现代机器人技术中目前被使用的一些机械设备。驱动机制齿轮和链条:齿轮和链条是机械平台，它提供了一种向另一个地方传送转动动作的强大而精确的途径（可能在传送的时候改变了动作）。两个齿轮之间速度的改变取决于每个齿轮上齿的数目。当加电的齿轮旋转一周时，它根据齿轮上的齿数来拉动链条。滑轮和皮带:滑轮和皮带是机器人所使用的两种另外的机械平台，工作的方式与齿轮和链条一样。滑轮是轮缘有凹槽的轮子，皮带是可以放进这个凹槽的橡皮圈。变速箱:变速箱运转的原理与齿轮和链条一样，不过没有链条。变速箱需要更精密的公差配合，因为不是使用一

31、条又大又松的链条来传送力量，也不用调整错位，齿轮之间直接和对方啮合。变速箱的示例可以在汽车的传动装置、落地大座钟的定时机制和打印机的送纸装置中找到。电源电源一般通过两种电池提供。一次电池使用过一次就被丢弃;二次电池以一种（通常是）可逆的化学反应工作，可以多次充电。一次电池有较高的容量和较低的自放电率。二次（可充电）电池比一次电池电量小，但可以重复充电，按化学反应和环境的不同可以多达一千次。一般可充电电池第一次使用可以为电器或机器人提供4小时连续工作的能源。电子控制机器人中有两个主要的硬件平台。非调节电压、电力和反电动势峰的机械平台以及干净电源和5伏信号的电子平台。这两个平台需要顺序桥接，目的是

32、让数字逻辑控制机械系统。经典的组件是桥式继电器。一个控制信号在继电器的线圈产生磁场，物理地闭合开关。例如MOSFET它是高效率的硅开关，有很多种规格，像晶体管一样可以作为固态继电器控制机械系统。传感器机器人根据瞬间测量作出反应，这需要不同种类的传感器。多数系统中对时间的感知是通过电路和编程中内建的。要想在实际中让这个具有生产性，机器人必须有感知硬件和软件，还要能快速地更新。不管传感器硬件或软件如何，感知和传感器可以被当作与外部事件交互（换句话说就是外部世界）。传感器测量世界的某个属性。变换器（transducer）一词经常与传感器一词交替使用。交换器是传感器的机制或元素，它将测量到的能源转换成

33、另一种形式的能源。传感器接收能源并传送一个信号到显示器或计算机。传感器使用变换器将输入的信号（声音、光线、压力、温度等）改变成机器人可以使用的模拟或数字形式。微控制器系统微控制器（Microcontrollers,MCU是机器人内部使用的智能电子设备。它提供的功能类似于个人电脑内部的微处理器（中央处理单元或CPU）所执行的功能。MCU速度较慢，使用的内存比CPU少，设计目的是现实世界的控制问题。CPU和MCU之间的一个主要区别是运行所需的外部组件的数目。MCU经常可以不需要外部部件就能运行，一般只需要一个外部晶体或振荡器。ROBOOP（个机器人技术面向对象C+软件包）：本软件包是一个关于机器人

34、模拟的面向对象C+软件包。技术参考和下载在参考资料中提供。CORBA:用于嵌入分布式软件代理的实时通信和对象请求中介程序软件包。每个独立的软件部分通过IDL（InterfaceDefinitionLanguage，接口定义语言）的方式向ORB注册它本身及其功能。请访问其Web站点（请参阅参考资料）以获得COBRAfc术信息、下载和文档。TANGO,TACO这个软件对控制多设备和多工具的机器人系统也许有用。TANGO是一个基于COBRA勺面向对象控制系统。设备服务程序可以用C+或Java编写。TACO是面向对象的，因为它将所有（物理的和逻辑的）控制系统中的控制点作为分布式环境中的对象来对待。所有行动都以类来实现。新的类可以以一种分级的方式从现存的类构建，这样可以确保高度的软件重用。类可以用C+卡用C（使用一种称为C中的对象的方法）、用Python或用LabView（使用G编程语言）编写。控制器任务控制体系：任务控制体系（TaskControlArchitecture,TCA历移动机器人简化了任务级控