Raspberry Pi is a credit card sized Linux computer based on ARM11 architecture.Because of its small size,low power consumption and powerful performance,a robot controller is a suitable role for it to play.As a robot with artificial intelligence,speech recognition for controlling the robot and voice feedback to users is key parts of the entire system.In this essay,a robot called Lisa is assembled,and a speech control and interactive system is implemented based on Google voice API which is a voice recognition engine provided as a cloud service.In order to analysis complex voice commands,a semantic method is developed to catch key words from command sentences.Then try to make a pattern match between key words and instruction set build-in the robot control system.The speech recognition control and interactive system is effective and well behaved after experimental verification.

关键词：光机电；机器人；ASR；TTS；Raspberry Pi

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The cerebellum has long been thought to play a crucial role in the forming of graceful movements,and it is viewed as a set of modules,each of which can be added to a control system to improve smooth coordinated movement,with improvements continuing and improving over time.The present paper proposes a new feedback error learning scheme for tracing in motor control system.In the scheme,the model of cerebellar cortex is regarded as the feedforward controller.Specifically,a neural network and an estimator are adopted in the cerebellar cortex model which can predict the future state and eliminate faults caused by time delay.The limits of achievable temporal accuracy in feedback-error learning are investigated experimentally and it is shown that motor output can have better temporal resolution than the error signal which is used for adapting the predictive controller.Finally,the algorithm is demonstrated in a simple but demanding simulated robot-control task.

关键词：光机电；机器人；小脑；电机控制；仿真

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Aiming at the problems of the anterior cruciate ligament (ACL) reconstruction in knee joint,such as deficiency in effective effect evaluation and insufficiency in operation safety,a zero gravity based force-measuring robot is developed to measure the pre-and post-operative tension of the knee joint ACL.The requirements for the robot's configuration and control are analyzed with regard to the ACL operation environment.Then the mathematical model of the ACL lateral force is deduced.The mechanical configuration and the control system design of the force-measuring robot for knee joint ACL are presented in detail.Lastly,experiments on measuring precision of the displacement and force of the mandrel,and the post-operation evaluation on the ovine bone,are implemented.The results show that the robot is effective for ACL reconstruction evaluation and the mathematics model of ACL forced in lateral direction is valid.

关键词：光机电；机器人；零重力；前交叉韧带；测力

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The purpose of this study is to design a flamethrower robot that works on power transmission lines.Composed of wheels and arms,the robot is able to move on the power transmission lines and also can get rid of the foreign matter like kites hanging on the line.Geometric design of the mechanism is discussed in detail and the critical problem of slide occurred between the line and the wheel is solved in this study.Also,the kinematics and the work space of the arm fixed on the robot are researched to ensure that the foreign matter hanging on the line can be cleared wherever it is.The effectiveness of the proposed concept is proved by experiments performed in a simulated line environment.

关键词：光机电；机器人；火焰喷射器；运动学；电源线

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关键词：光机电；机器人；条款罗盘；航位推算；定位系统

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According to the requirement of operational stability and reliability of welding robot,the direct and inverse kinematics models of three-axis linkage welding robot were analyzed.Based on the analysis result,variable gain PID control scheme was designed,and the control system model was built.The control scheme was checked and assessed using MATLAB analysis box.Analysis results show that control system satisfies the demands of welding robot running stability and reliability in ideal status,and the research has laid foundation for the further research.

关键词：光机电；机器人；可变增益PID；控制系统

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Aims to address the restrictions imposed by tranditional robot Control system development approach such as close structure,function immobility,lack of reconfiguration at run time,hard to guarantee.a lightweight service-oriented architectures(LSOA) for robot control system is proposed.The main features of this architecture include central control mode,message-based interaction and configuration system based on embedded database.This architecture provides good supports for runtime reconfiguration,and allows integrating different components with the aid of a configuration system.The experiment indicates that the LSOA approach can improve the flexibility,reconfiguration and agility of the system.

关键词：光机电；机器人；控制系统；SOAP；消息传递

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For the problems that the dexterity of movement was not enough,the grinding path was uncontinuous as well as the accuracy and efficiency were influenced while the gripper needed replacing,when complex curved workpiece was under grinding by six freedom degrees grinding robot,a new type redundant grinding robot,PPPRRRR,was proposed.A new type robot system coordinate and kinematics model of robot space were founded by the homogeneous transformation.Robot kinematics equations were derived.By ADAMS,the work space of robot was obtained.The relative position of the grinding contact wheel and robot was optimized by orthogonal test method.It lay the foundation for in-depth study of this type of grinding robot.

关键词：光机电；机器人；冗余；运动学

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This chapter discusses how real-life interfacing of external peripherals with a ready-made mobile robot can be successfully achieved. Such a system is hoped to be useful for those research scenarios where, many-a-time, because of the fund constraints, a complete robot system cannot be procured with all its accessories and sensor systems. This chapter discusses how such interfacing can be achieved for the KOALA robot using serial communication in interrupt driven mode.

关键词：光机电；机器人；移动；外围

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This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：光机电；机器人；自主移动；模糊控制器

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