外文翻译--机器人技术简介

1、精选优质文档-倾情为你奉上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, one-of-kind planetary rovers. Unlike a highly automated manufactu

2、ring plant, a planetary rover operating on the dark side of the moon - without radio communication - might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a c

3、hanging world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence). Mechanical platforms - the hardware baseA robot consists of two main parts: the robot body and some form of artificial intelligence (AI) system.

4、 Many different body parts can be called a robot. Articulated arms are used in welding and painting; gantry and conveyor systems move parts in factories; and giant robotic machines move earth deep inside mines. One of the most interesting aspects of robots in general is their behavior, which require

5、s a form of intelligence. The simplest behavior of a robot is locomotion. Typically, wheels are used as the underlying mechanism to make a robot move from one point to the next. And some force such as electricity is required to make the wheels turn under command. MotorsA variety of electric motors p

6、rovide power to robots, allowing them to move material, parts, tools, or specialized devices with various programmed motions. The efficiency rating of a motor describes how much of the electricity consumed is converted to mechanical energy. Let's take a look at some of the mechanical devices tha

7、t 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 d

8、epends 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 whe

9、els 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 m

10、isalignments, 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 paper-feed of your printer.Power suppliesPower supplies are generally provided by two types of battery. Primary batteries are u

11、sed once and then discarded; secondary batteries operate from a (mostly) reversible chemical reaction and can be recharged several times. Primary batteries have higher density and a lower self-discharge rate. Secondary (rechargeable) batteries have less energy than primary batteries, but can be rech

12、arged up to a thousand times depending on their chemistry and environment. Typically the first use of a rechargeable battery gives 4 hours of continuous operation in an application or robot. SensorsRobots react according to a basic temporal measurement, requiring different kinds of sensors. In most

13、systems a sense of time is built-in through the circuits and programming. For this to be productive in practice, a robot has to have perceptual hardware and software, which updates quickly. Regardless of sensor hardware or software, sensing and sensors can be thought of as interacting with external

14、events (in other words, the outside world). The sensor measures some attribute of the world. The term transducer is often used interchangeably with sensor. A transducer is the mechanism, or element, of the sensor that transforms the energy associated with what is being measured into another form of

15、energy. A sensor receives energy and transmits a signal to a display or computer. Sensors use transducers to change the input signal (sound, light, pressure, temperature, etc.) into an analog or digital form capable of being used by a robot. Microcontroller systemsMicrocontrollers (MCUs) are intelli

16、gent electronic devices used inside robots. They deliver functions similar to those performed by a microprocessor (central processing unit, or CPU) inside a personal computer. MCUs are slower and can address less memory than CPUs, but are designed for real-world control problems. One of the major di

17、fferences between CPUs and MCUs is the number of external components needed to operate them. MCUs can often run with zero external parts, and typically need only an external crystal or oscillator. Utilities and toolsROBOOP (A robotics object oriented package in C+): This package is an object-oriente

18、d toolbox in C+ for robotics simulation. Technical references and downloads are provided in the . CORBA: A real-time communications and object request broker software package for embedding distributed software agents. Each independent piece of software registers itself and its capabilities to the OR

19、B, by means of an IDL (Interface Definition Language). Visit their Web site (see ) for technical information, downloads, and documentation for CORBA. TANGO/TACO: This software might be useful for controlling a robotics system with multiple devices and tools. TANGO is an object oriented control syste

20、m based on CORBA. Device servers can be written in C+ or Java. TACO is object oriented because it treats all (physical and logical) control points in a control system as objects in a distributed environment. All actions are implemented in classes. New classes can be constructed out of existing class

21、es in a hierarchical manner, thereby ensuring a high level of software reuse. Classes can be written in C+, in C (using a methodology called Objects in C), in Python or in LabView (using the G programming language). ControllersTask Control Architecture: The Task Control Architecture (TCA) simplifies

22、 building task-level control systems for mobile robots. "Task-level" refers to the integration and coordination of perception, planning, and real time control to achieve a given set of goals (tasks). TCA provides a general control framework, and is intended to control a wide variety of rob

23、ots. TCA provides a high-level machine-independent method for passing messages between distributed machines (including between Lisp and C processes). TCA provides control functions, such as task decomposition, monitoring, and resource management, that are common to many mobile robot applications. Th

24、e section provides technical references and download information for Task Control Architecture. EMC (Enhanced Machine Controller): The EMC software is based on the NIST Real time Control System (RCS) methodology, and is programmed using the NIST RCS Library. The RCS Library eases the porting of cont

25、roller code to a variety of UNIX and Microsoft platforms, providing a neutral application programming interface (API) to operating system resources such as shared memory, semaphores and timers. The EMC software is written in C and C+, and has been ported to the PC Linux, Windows NT, and Sun Solaris

26、operating systems. Darwin2K: Darwin2K is a free, open source toolkit for robot simulation and automated design. It features numerous simulation capabilities and an evolutionary algorithm capable of automatically synthesizing and optimizing robot designs to meet task-specific performance objectives.

27、LanguagesRoboML (Robotic Markup Language): RoboML is used for standardized representation of robotics-related data. It is designed to support communication language between human-robot interface agents, as well as between robot-hosted processes and between interface processes, and to provide a forma

28、t for archived data used by human-robot interface agents. ROSSUM: A programming and simulation environment for mobile robots. The Rossum Project is an attempt to help collect, develop, and distribute software for robotics applications. The Rossum Project hopes to extend the same kind of collaboratio

29、n to the development of robotic software. XRCL (Extensible Robot Control Language): XRCL (pronounced zircle) is a relatively simple, modern language and environment designed to allow robotics researchers to share ideas by sharing code. It is an open source project, protected by the GNU Copyleft. Sum

30、maryThe field of robotics has created a large class of robots with basic physical and navigational competencies. At the same time, society has begun to move towards incorporating robots into everyday life, from entertainment to health care. Moreover, robots could free a large number of people from h

31、azardous situations, essentially allowing them to be used as replacements for human beings. Many of the applications being pursued by AI robotics researchers are already fulfilling that potential. In addition, robots can be used for more commonplace tasks such as janitorial work. Whereas robots were

32、 initially developed for dirty, dull, and dangerous applications, they are now being considered as personal assistants. Regardless of application, robots will require more rather than less intelligence, and will thereby have a significant impact on our society in the future as technology expands to

33、new horizons. 外文出处: edited by A. 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

34、主要部分：机器人的身体和某种形式的人工智能（artificial intelligence，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

35、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

36、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

37、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

38、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（一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模拟的面向对象 C+ 软件包。技术参考和下载在参考资料中

39、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（Interface Definition Language，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COBRA 技术信息、下载和文档。 TANGOTACO： 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 的面向对象控制系统。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+、用 C（使用一种称为 C 中的对象的方法）、