1、UseofVoiceRecognitionforControlofaRoboticWeldingWorkcellABSTRACT/Thispaperdescribesworkunderwaytoevaluatetheeffectivenessofvoicerecognitionsystemsasanelementinthecontrolofaroboticweldingworkcell/Factorsbeingconsideredforcontrolincludeprogrameditoraccesssecurity/Preoperationchecklistrequirements/weld
2、ingprocessvariablecontrol/androbotmanipulatormotionoverrides/Inthelattertwocategories/manualvocalcontrolisbeingcomparedagainstmanualtactilecontrolandfullyautomaticcontrolintermsofspeedofresponse/accuracy/stability/reliability/Andsafety/IntroductionVoicerecognitiontechnologyisnowrecognizedasapotentia
3、lmeansforeasingtheworkloadofoperatorsofcomplexsystems/Numerousapplicationshavealreadybeenimplemented/areinvariousstagesofdevelopment/orareunderconsideration/Theseincludedataentry/controlofaircraftsystems/andvoiceidentificationandverificationforsecuritypurposes/Voicecontrolhasalsobeenproposedforuseab
4、oardthespacestation/Oneprimeareaforapplicationwouldbecontrolofsomefunctionsofrobotsusedforintraandextravehicularinspection/assembly/repair/satelliteretrieval/andsatellitemaintenancewhenacrewmemberisservinginasupervisorycapacityorthesystemisoperatinginateleoperationmode/Voicecontrolofsensorsandproces
5、svariableswouldfreethecrewmembershandsforothertasks/suchasdirectcontroloroverrideofthemanipulatormotion/Similarly/theworkloadassociatedwithcontrolofmanyonboardexperimentscouldbeeasedthroughtheuseofthistechnology/Thispaperdescribestheapplicationofvoicerecognitionforcontrolofaroboticweldingworkcell/Th
6、isisacomplexsysteminvolvinginputsfrommultiplesensorsandcontrolofawidevarietyofrobotmanipulatormotionsandprocessvariables/Whilemanyfunctionsareautomated/ahumanoperatorservesinasupervisorycapacity/readytooverridefunctionswhennecessary/Inthepresentinvestigation/acommerciallyavailablevoicerecognitionsys
7、temisbeingintegratedwitharoboticweldingworkcellatNASAMarshallSpaceFlightCenter/whichisusedasatestbedforevaluationanddevelopmentofadvancedtechnologiesforuseinfabricationoftheSpaceShuttleMainEngine/Inthesystemunderdevelopment/somefunctionsdonotyethaveautomaticclosedloopcontrol/thusrequiringcontinuousm
8、onitoringandreal-timeadjustmentbythehumanoperator/Presently/theseovemdesareinputtothesystemthroughtactilecommands(；/e/pushingbuttons/turningknobsforpotentiometers/oradjustingmechanicaldevices)/Sincetheoperatormonitorstheprocessprimarilyvisually/hemusteitherlookawayfromtheprocesstofindtheproperbutton
9、orknoborrelyon“muscularmemory”muchasatouch-typistdoes/Inthefirstcase/thetimeofresponsetoadeviantconditionmaybeexcessive/Inthesecondcase/thereisanincreasedprobabilityofasecondaryerrorbeingintroducedbytheoperator/Avoicerecognitionsystemcouldreducetheresponsetimerequiredfromtheoperator/Theprobabilityof
10、pushingthewrongbuttonshouldsimilarlybereduced/Also/operatorfatigueshouldbeminimized/Sincetheoperatorcancontinuouslymonitortheprocessduringoverrideinput/theeffectofthechangecanbeobservedmorequickly/Thus/ifthedesiredvalueisexceededandreversecorrectionisrequired/itshouldbeaccomplishedmorequickly/allowi
11、nglessovershoot/Thisreductioninoscillationaboutthedesiredvaluemakesthesystemmorestable/Anotherfactorthatcanbeimprovedisoperatorsafety/Inasafety-criticalsituation/therobotsoperationcanbehaltedimmediatelybyuseofthe“emergencystop/orE-stop/mode/whichisinitiated/conventionally/bydepressingalargebutton/If
12、anoperatorinadvertentlyfindshimselfinahazardoussituation/itmaybenecessaryforhimtoinitiatetheE-stopsequence/Shouldtheoperatornotbewithinreachofthebutton/however/hemaybeunabletotakethenecessaryaction/and/asaresult/couldsufferseriousinjury/Havingthecapabilityofstoppingtherobotbyissuingavoicecommandcoul
13、dsignificantlyimprovetheoperatorssafetybyenablinghimtostoptherobotevenwhennotwithinreachoftheE-stopbutton/Manualcorrectionsareoccasionallyrequiredtoadjustthelocationatwhichtheweldfillerwireenterstheweldpool/Properentrylocationisabsolutelycriticaltosoundweldquality/Adjustmentsaremadeeitherbymanuallya
14、djustingmechanismsthatholdthewirefeedguidetubeorbyissuingtactilecommandstoaservomechanism/Useofavoicerecognitionsystemcouldeliminatetheneedfortheoperatortoplacehishandwithintheworkingenvelopeoftherobotendeffectoror/ifservomechanismsareemployed/couldimprovespeedofresponseandstability/Anotheraspectofr
15、obotoperationinanindustrialenvironmentthatisveryimportantisthesecurityofaprogrameditingcapabilityofthesystem/Undernocircumstancesshouldanyunauthorizedpersonbeabletoenterthisprogrammingmodeandaltertherobotsprogram/Avoicerecognitionsystemcanprovidethenecessarysecuritybyallowingaccessonlyforindividuals
16、whoareauthorizedandwhosevoicescanbeidentifiedbythesystem/BackgroundRoboticweldingisunderdevelopmentbyNASAandRocketdynefortheautomationofweldsontheSpaceShuttleMainEnginethatarepresentlymademanually/Theprogrammabilityofarobotcanreducethepercentageofweldingdefectsthroughacombinationofconsistencyandrepe
17、atabilityunattainablebyitshumancounterparts/Todothis/therobotisprogrammedtoanominalweldpathandlevelofweldprocessparameters(i/e//current/travelspeed/voltage/wireadditionrate)/Someadjustmentofthesevaluesisoftennecessaryduetoconditionschangingduringtheweld/Ahumanmakingamanualweldaccomplishesthisadjustm
18、entreadily/whilearobotmustrelyonthelimitedtalentsofsensorsandtheabilityoftheoperatortooverridefunctionswhennecessary/SystemIntegrationThebasicelementsoftheworkcellsystemareshowndiagrammaticallyintheillustration/Theultimategoalofthesystemdevelopmentworkinprogressistogeneraterobotmanipulatorprogramsan
19、dweldprocessprogramsoffline/downloadthemtotheworkcellsupervisorycomputer/thenusesensorsubsystemstomakeclosed-loopcorrectionstotherobotpathandprocessvariables/OfflineprogrammingisbeingdonewithanIntergraphmodifiedVAX780/785-205computersystemwithInteractcolorgraphicsworkstations/Deviationsbetweenthepro
20、grammedrobotpathandtheactualrequiredpathareobservedandcorrectedbyasophisticatedvision-basedsensordevelopedforthisapplicationbyOhioStateUniversity/Thissensorsystemisalsodesignedtopermitmeasurementofthemoltenweldpoolsurfacedimensionsandcorrectweldingcurrentleveltomaintaintheweldpooldimensionswithindes
21、iredlimits/Presently/anumberoffunctionsarestillcontrolledmanually/andmanualoverridescapabilityisrequiredforallfunctions/AsstatedintheIntroduction/useofvoicerecognitionmayimprovetheaccuracyandspeedofresponseofthesemanualoverrides/Toexplorethistechnology/aVotanVRT6050stand-alonevoicerecognitiontermina
22、lhasbeenintegratedintotheworkcell/Thissystemprovidescontinuousspeechrecognitionofupto10setsofwordswith75-150wordsperset/Theintegrationofthevoicerecognitionsystemisbrokenintoanaloganddiscretesignalsforcontrol/ThevoicerecognitionsystemconnectstothecontrolcomputerthroughastandardRS232-Ccommunicationslink/
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