Mikrodenetleyicileri Kullanarak Türkçe Sesli Komutlarla Beş Eksenli Manipülatör Kontrolü

Öz

Bilgisayar teknolojisi gelişimiyle birlikte, insanlar ile makineler arasındaki etkileşim artmaktadır. Ses tabanlı komutlarla bir sistemi kontrol etmek bu alandaki en popüler uygulamalardan biridir. Bu çalışmada ana hedef, belirli sesli komutlarla beş kontrol edilebilir eksenden oluşan robot kolunu kontrol edebilen bir sistem oluşturmaktır. Robot kolunu kontrol etme işlemi, kullanıcıdan alınan seslerin ve ses tanıma kartında işlenmiş ve ses tanıma kartı tarafından tanımlanan seslerin eşleştirilmesi ile başlar. Ardından pozitif bir eşleme varsa, sistem tarafından ses tanıma modülü ve servo motor sürücü kartı arasında bir iletişim sağlayan bir mikrodenetleyiciye veri gönderilir. Son olarak, mikrodenetleyici, önceki işlem tarafından sağlanan verileri kullanarak gerekli açıları hesaplar ve robotik kol hareketini gerçekleştirmek için bu verileri servo motor sürücü kartına gönderir.

Anahtar Kelimeler

• Konuşma tanıma,robot kontrol

Controlling of Five Axis Manipulator with Turkish Voice Commands Using Microcontrollers

Öz

The interaction between human beings and machines has been increasing in conjunction with the development of computer technology. Controlling a system with voice-based commands is one of the most popular applications in this area. In this study, the main goal is to build a system, which is able to control a robotic arm comprised of five controllable axes with certain voice commands. The process of controlling the robotic arm starts with the matching of sounds taken from the user and sounds which were processed in voice recognition card and were defined by voice recognition card. Then, if there is a positive matching a data is sent to a microcontroller, which provides a communication between voice recognition module and servo motor drive card by the system. Finally, the microcontroller calculates the required angles by using the data provided by the previous process and sends this data to the servo motor drive card in order to realize the robotic arm action.

Anahtar Kelimeler

• Speech Recognition,, Robot Control.

Kaynakça

1. Furui S. (2000). Speech Recognition Technology in the Ubiquitous/ Wearable Computing Environment. IEEE International Conference on Acoustics-Speech and Signal Processing, ICASSP Proceedings, 6: 3735-3738.
2. Thong J-M, Goddeau D., Litvinova A., Logan B., Moreno P. & Swain M. (2000). SpeechBot: A Speech Recognition based Audio Indexing System for the Web. International Conference on Computer-Assisted Information Retrieval, RIAO; 106-115.
3. Davis C.D. (2000). Automatic Speech Recognition and Access: 20 years, 20 Months, or Tomorrow. Issue of Hearing Loss: The Journal of Self Help for Hard of Hearing People, 22, 4: 11-14.
4. Wald M. (2004). Using Automatic Speech Recognition to Enhance Education for All Students: Turning a Vision into Reality. 34th ASEE/IEEE Frontiers in Education Conference, Savannah, GA.
5. Li M. & Okamura A.M. (2003). Recognition of Operator Motions for Real-Time Assistance using Virtual Fixtures. Proc. of the 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems.
6. Uysal M. (2003). Software Development with MS Visual C# .NET. Beta Press, Istanbul.
7. Yanık M. (2004). MS Visual C# .NET. Seçkin Press, Ankara.
8. Palaz H. (2005). TREN-Turkish Speech Recognition Platform. Tübitak- National Institute of Electronics and Cryptology.

9. Akçay B. (1994). Turkish Speech Recognition with Artificial Neural Network, Master Thesis. Hacettepe University Institute of Science, Ankara.
10. Peter X., Liu A. D. C., Chan R., Chen K. & Wang Y. Z. (2005). Voice-Based Robot Control. Proceedings of the IEEE International Conference on Information Acquisition, June 27 - July 3, Hong Kong and Macau, China.
11. Ozdemircan Z.M. (2008). Robot Control with Voice Command. Yildiz Technical University Faculty of Electric and Electronics Department of Computer Engineering Senior Project Istanbul.
12. Nishimori M. & Saitoh T. (2007). Voice Controlled Intelligent Wheelchair, SICE Annual Conference, Kagawa University, Japan.
13. Ishikawa K. & Mori Y. (2008). Development of Self-propelled Robot that Recognizes Voice Instruction. SICE Annual Conference, The University Electro-Communications, Japan.
14. E. Kelebekler, M. İnal, “Controlling Devices in a Car with Voice Speech Recognition System for Real-Time Applications Laboratory”, Polytechnic Journal, 2008.
15. Craig, J. (2005). Introduction to Robotics, Prentice Hall.
16. Yavuz E., (2010). Implementation of Voice Expression Recognition System. Master Thesis, Marmara University, Istanbul.
17. Can, B. (2007). Bir Hece-Tabanlı Türkçe Sesli İfade Tanıma Sisteminin Tasarımı Ve Gerçekleştirimi. Master Tezi, Hacettepe Üniversitesi Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Bölümü, Ankara, Türkiye.
18. EasyVR User Manual, EasyVR Commander, http://www.veear.eu
19. TI launchpad software, http://www.ti.com/tools- /overview.html
20. Pololu Maestro Servo Controller User’s Guide, https://www.pololu.com/docs/0J40