Voice recognition in robot control -teaching stand

Abstract eng:
Programming robot PLC controller through voice recognition system has been presented. The purpose of this project is a development of a robot control voice protocol allowing the robot to work on its own, non-computer aided, once the programming process is completed. The computer system is equipped with a voice recognition module connected with the communications module which communicates directly with the executive module or is used for programming and managing the sequence of movements. Introduction A new stand has been developed to be used for teaching purposes; it is based on the PR02 robot of 1979 equipped with an upgraded control system of 2001 based on MicroSmart series PLC controller by IDEC Izumi. It is supposed to be a system which is beyond the presently existing solutions of this type. A development of many modules has been planned. Some of them are to be implemented directly in the controller and others in the associated computer system. The voice command recognition system consists of CSLU Toolkit software (Open Source) and Tcl/Tk script language command interpreter (Open Source) operating on a PC equipped with a sound card in full-duplex mode for Microsoft Windows. The hardware is additionally equipped with a microphone with noise reduction. Speech signal transformation is on-line. Description of the plant (manipulator) controlled The plant controlled, as an example of voice recognition system application, was PR02 industrial manipulator made by MERA-PIAP equipped with a control system, upgraded following own design, based on PLC controller by IDEC Izumi. PR02 industrial manipulator is a piece of equipment whose mechanical part for manipulations has been built from modules which execute movements and rotations about a few axes. All those components are driven by compressed air. The actuators are cylinders and reverse pneumatic motors. The movements of modules are controlled with three- and five-way valves and electropneumatic diverter valves. The ranges of movements in respective 1

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