外文翻譯--機(jī)器人技術(shù)簡介

1、外文翻譯 - 機(jī)器人技術(shù)簡介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 manufact

2、uring 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

3、changing 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 pr

6、ovide 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 that

7、 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 dep

8、ends 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

9、 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 misal

10、ignments, 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 used

11、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-dischargerate. Secondary (rechargeable) batteries have less energy than primary batteries, but can be recharged

12、 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 system

13、s 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 events

14、 (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 energy

15、. 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 intelligent e

16、lectronic 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 differen

17、ces 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 anobject-oriented toolbo

18、x in C+ for robotics simulation. Technical references and downloads are provided in the Resources.A real-time communications and object request broker software CORBA: 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 Resources) 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 contr

20、ol system 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 existin

21、g classes 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).ControllersThe Task Control Architecture (TCA) simplifies Task Control Archite

22、cture:building task-level control systems for mobile robots. "Task-level" refers to the integration and coordination of perception, planning, andreal 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

23、 robots. 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

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

25、ting of controller 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

26、Sun Solaris 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 o

27、bjectives. 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 prov

28、ide a format 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 co

29、llaboration to the development of robotic software.XRCL (pronounced zircle) is XRCL (Extensible Robot Control Language): 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 Copy

30、left.SummaryThe 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 peopl

31、e from hazardous 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 rob

32、ots were 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 exp

33、ands to new horizons.外文出處 : Robotic technology / edited by A. Pugh./P. Peregrinus, c1993.附件 1: 外文資料翻譯譯文機(jī)器人技術(shù)簡介在制造業(yè)領(lǐng)域，機(jī)器人的開發(fā)集中在執(zhí)行制造過程的工程機(jī)器人手臂上。在航天工業(yè)中，機(jī)器人技術(shù)集中在高度專業(yè)的一種行星漫步者上。不同于一臺高度自動 化的制造業(yè)設(shè)備，行星漫步者在月亮黑暗的那一面工作沒有無線電通訊可能碰到意 外的情況。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(yīng)改變著的世界的方法。此外，對感知和適應(yīng)一個部分未知 的環(huán)境的需求需要

34、智能 （ 換句話說就是人工智能 ） 。機(jī)械平臺 , 硬件基礎(chǔ)一個機(jī)器人包括兩個主要部分 : 機(jī)器人的身體和某種形式的人工智能 （artificial intelligence，AI） 系統(tǒng)。很多不同的身體部分都可以叫做機(jī)器人。關(guān)節(jié)手臂被用于焊接和上漆 ;起重機(jī)和傳送帶系統(tǒng)在工廠中運送零件 ; 巨型機(jī)器人機(jī) 器搬運礦井深處的泥土。一般說來，機(jī)器人最有趣的一個方面是它們的行為，這需 要一種形式的智能。機(jī)器人最簡單的行為是移動。典型地，輪子被作為讓機(jī)器人從 一點移動到下一點的基本機(jī)械裝置。還需要某種力 （ 如電力）讓輪子在命令時轉(zhuǎn)動。電動機(jī) 很多種電動機(jī)向機(jī)器人提供能源，讓它們用不同的編程動作搬運材

35、料、零件、 工具或?qū)Ｓ迷O(shè)備。電動機(jī)的效率等級表明多少消耗的電量轉(zhuǎn)化成機(jī)械能。讓我們看 看現(xiàn)代機(jī)器人技術(shù)中目前被使用的一些機(jī)械設(shè)備。驅(qū)動機(jī)制齒輪和鏈條 : 齒輪和鏈條是機(jī)械平臺，它提供了一種向另一個地方傳送轉(zhuǎn)動動 作的強(qiáng)大而精確的途徑 （ 可能在傳送的時候改變了動作 ） 。兩個齒輪之間速度的改變 取決于每個齒輪上齒的數(shù)目。當(dāng)加電的齒輪旋轉(zhuǎn)一周時，它根據(jù)齒輪上的齒數(shù)來拉 動鏈條。滑輪和皮帶 : 滑輪和皮帶是機(jī)器人所使用的兩種另外的機(jī)械平臺，工作的方式 與齒輪和鏈條一樣。滑輪是輪緣有凹槽的輪子，皮帶是可以放進(jìn)這個凹槽的橡皮 圈。變速箱 : 變速箱運轉(zhuǎn)的原理與齒輪和鏈條一樣，不過沒有鏈條。變速箱需要更

36、 精密的公差配合，因為不是使用一條又大又松的鏈條來傳送力量，也不用調(diào)整錯 位，齒輪之間直接和對方嚙合。變速箱的示例可以在汽車的傳動裝置、落地大座鐘的定 時機(jī)制和打印機(jī)的送紙裝置中找到。電源電源一般通過兩種電池提供。一次電池使用過一次就被丟棄 ; 二次電池以一種 （ 通常是 ） 可逆的化學(xué)反應(yīng)工作，可以多次充電。一次電池有較高的容量和較低的自 放電率。二次 （ 可充電 ）電池比一次電池電量小，但可以重復(fù)充電，按化學(xué)反應(yīng)和環(huán) 境的不同可以多達(dá)一千次。一般可充電電池第一次使用可以為電器或機(jī)器人提供 4 小時連續(xù)工作的能源。電子控制機(jī)器人中有兩個主要的硬件平臺。非調(diào)節(jié)電壓、電力和反電動勢峰的機(jī)械平臺

37、以及干凈電源和 5 伏信號的電子平臺。這兩個平臺需要順序橋接，目的是讓數(shù)字邏 輯控制機(jī)械系統(tǒng)。經(jīng)典的組件是橋式繼電器。一個控制信號在繼電器的線圈產(chǎn)生磁 場，物理地閉合開關(guān)。例如 MOSFET它是高效率的硅開關(guān)，有很多種規(guī)格，像晶 體管一樣可以作為固態(tài)繼電器控制機(jī)械系統(tǒng)。傳感器機(jī)器人根據(jù)瞬間測量作出反應(yīng)，這需要不同種類的傳感器。 多數(shù)系統(tǒng)中對時間的感知是通過電路和編程中內(nèi)建的。要想在實際中讓這個具 有生產(chǎn)性，機(jī)器人必須有感知硬件和軟件，還要能快速地更新。不管傳感器硬件或 軟件如何，感知和傳感器可以被當(dāng)作與外部事件交互 （ 換句話說就是外部世界 ） 。傳 感器測量世界的某個屬性。變換器 （tran

38、sducer） 一詞經(jīng)常與傳感器一詞交替使用。 交換器是傳感器的機(jī)制或元素，它將測量到的能源轉(zhuǎn)換成另一種形式的能源。傳感器接收能源并傳送一個信號到顯示器或計算機(jī)。傳感器使用變換器將輸入的信號（ 聲音、光線、壓力、溫度等 ） 改變成機(jī)器人可以使用的模擬或數(shù)字形式。微控制器系統(tǒng)微控制器（Microcontrollers , MCU是機(jī)器人內(nèi)部使用的智能電子設(shè)備。它提 供的功能類似于個人電腦內(nèi)部的微處理器（中央處理單元或CPU）所執(zhí)行的功能。 MCU速度較慢，使用的內(nèi)存比CPU少，設(shè)計目的是現(xiàn)實世界的控制問題。CPU和MCU之間的一個主要區(qū)別是運行所需的外部組件的數(shù)目。MCU經(jīng)?？梢圆恍枰獠坎考?/p>

39、能運行，一般只需要一個外部晶體或振蕩器。ROBOO一個機(jī)器人技術(shù)面向?qū)ο驝+軟件包）：本軟件包是一個關(guān)于機(jī)器人 模擬的面向?qū)ο?C+ 軟件包。技術(shù)參考和下載在參考資料中提供。CORBA:用于嵌入分布式軟件代理的實時通信和對象請求中介程序軟件包。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。請訪問其 Web 站點（請參閱參考資料 ）以獲得 COBRA技術(shù)信息、下載和文檔。TANGO,TACO這個軟件對控制多設(shè)備和多工具的機(jī)器人系統(tǒng)也許有用。TANGO是一個基于COBRA勺面向?qū)ο罂刂葡到y(tǒng)。設(shè)備服務(wù)程序可以用C+或Java編寫。TACO是面向?qū)ο蟮?，因為它將所有（物理的和邏輯的）控制系統(tǒng)中的控制點作 為分布式環(huán)境中的對象來對待。所有行動都以類來實現(xiàn)。新的類可以以一種分級的 方式從現(xiàn)存的類構(gòu)建，這樣可以確保高度的軟件重用。類可以用C+用C（使用一