Distributed System for Support of Assistive Robot Control by the use of Object-Oriented Language

这项研究的目的是开发一个辅助机器人控制的支持环境，供残疾人或老年人使用，或供照顾他们的人使用。为了控制机器人，选择了面向对象的编程语言SmallTalk，因为它的编程灵活性和编程环境的简单性，利用SmallTalk的特点，使编程变得比以往任何时候都更加容易，并使最终用户在现场修改程序成为可能。对使用语音识别系统控制机器人进行了评估：结合SmallTalk的优势，语音命令的识别率更高，模糊性更小。手套式输入装置的使用也经过了测试：它适合指挥运动，而不是量化输入参数。最后，在支持软件远程维护的计算机网络上对机器人的指令进行了评估，当互联网进入日常生活时，这变得更加现实。比较了三种情况下机器人控制的性能：本地计算机控制机器人，远程计算机逐级命令控制机器人，远程计算机通过批处理命令控制机器人。通过批处理命令使用远程计算机的一些有用的结果。在使用远程软件维护方面取得了一些有益的结果。

The goal of this research is to develop a supporting environment for control of assistive robots which may be used by handicapped or aged people, or by those who take care of them. To control robots, Smalltalk, an object - oriented language, has been chosen because of its flexibility of programing, and the ease of programming environment.By the use of characteristics of Smalltalk, the programming becomes much easier than ever, and some modifications of program on site by the end users become possible. The use of voice recognition system to control the robot has been evaluated : by combining the advantage of Smalltalk, the recognition rate of voice command become higher as there is less ambiguity. The use of glove-type input device has also been tested : it is suitable to command the movement, rather than quantitative input parameters. With glove-type input device, the trajectories of robot movements become more smooth.Finally the command of robots has been evaluated on computer network supporting a remote maintenance of software, which become more realistic when the Internet enters in the daily life. The performance of robot control has been compared in three cases : control of the robot by local computer, command of the robot by remote computer by step by step command, and control of the robot by remote computer by a batch command. Some useful results on the use of remote computer by a batch command. Some useful results on the use of remote software maintenance have been obtained.