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　機(jī)器人誕生之日起人們就不斷地嘗試著說明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時(shí)代的到來，機(jī)器人所涵蓋的內(nèi)容越來越豐富，機(jī)器人的定義也不斷充實(shí)和創(chuàng)新。機(jī)器人技術(shù)作為20世紀(jì)人類最偉大的發(fā)明之一，自20世紀(jì)60年代初問世以來，經(jīng)歷40多年的發(fā)展已取得長(zhǎng)足的進(jìn)步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機(jī)器人已成為智能制造和工業(yè)自動(dòng)化的關(guān)鍵技術(shù)和重要產(chǎn)品，也是數(shù)控機(jī)床走向自動(dòng)化更高階段的重要一環(huán)。

　　隨著電子控制技術(shù)的不斷發(fā)展，PLC正向高速度、容量大等物聯(lián)網(wǎng)及智能通信方向發(fā)展，通過物聯(lián)網(wǎng)，能實(shí)現(xiàn)PLC、變頻器、遠(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)行連接，來構(gòu)造出一種多級(jí)式分布系統(tǒng)。

　　1

　　舉個(gè)例子

　　三菱工業(yè)電機(jī)中的CC-Link構(gòu)建的一種開放性面向現(xiàn)場(chǎng)控制的總線網(wǎng)路系統(tǒng)，DIN是德國(guó)工業(yè)標(biāo)準(zhǔn)，使用導(dǎo)軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標(biāo)準(zhǔn)的電器元器件可方便地卡在導(dǎo)軌上而無需用螺絲固定，維護(hù)也很方便，一般來說，常用的導(dǎo)軌寬度是3.5CM?，F(xiàn)如今，很多的電器元器件都有采用這種標(biāo)準(zhǔn)，比如有PLC、斷路器、開關(guān)、接觸器等。

　　工業(yè)機(jī)器人不是孤立工作的，一個(gè)機(jī)器人工作站，往往需要外圍設(shè)備的配合，比如工裝夾具、傳送帶、焊接變位機(jī)、移動(dòng)導(dǎo)軌等等，這些角色相互之間要怎么配合，就需要互相協(xié)調(diào)。比如AGV小車、自動(dòng)化立體倉(cāng)庫(kù)、噴涂設(shè)備、裝配設(shè)備等等。

　　2

　　工業(yè)機(jī)器人的自動(dòng)控制系統(tǒng)

　　1、底層控制器

　　底層控制器作為控制系統(tǒng)的核心，其選擇的合適與否對(duì)整個(gè)系統(tǒng)來說十分重要，其性能直接影響了控制系統(tǒng)的可靠性、數(shù)據(jù)處理速度、數(shù)據(jù)采集的實(shí)時(shí)性等。移動(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對(duì)運(yùn)動(dòng)控制器的實(shí)時(shí)性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)動(dòng)控制器至關(guān)重要，既要滿足系統(tǒng)要求，又要具有良好的可擴(kuò)展性和兼容性。

　　為實(shí)現(xiàn)機(jī)器人對(duì)外部設(shè)備的有效控制，底層控制器提供了相應(yīng)的設(shè)備底層控制函數(shù)，這些控制函數(shù)可以直接訪問機(jī)器人的硬件寄存器來控制機(jī)器人的運(yùn)行，而這些控制函數(shù)可以使得設(shè)備驅(qū)動(dòng)程序不再依賴于具體硬件，所以，通過調(diào)用控制函數(shù)接口就可以實(shí)現(xiàn)對(duì)機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)機(jī)器人的電氣系統(tǒng)主要包括三個(gè)部分：主電路、伺服驅(qū)動(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動(dòng)機(jī)器人控制系統(tǒng)主電路通過PLC和繼電器實(shí)現(xiàn)控制。即由繼電器由線圈和輔助觸點(diǎn)兩部分組成。當(dāng)線圈通電的時(shí)候，其對(duì)應(yīng)的常開觸點(diǎn)閉合，常閉觸點(diǎn)斷開。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型為4ms)和I/O數(shù)據(jù)映像區(qū)大小信息，通過軟PLC編程系統(tǒng)的工程配置模塊進(jìn)行可視化配置，以適應(yīng)不同機(jī)器人應(yīng)用程序?qū)/O設(shè)備的不同需求。其主要是機(jī)器人將其他信號(hào)作為末端執(zhí)行器I/O使用，末端執(zhí)行器I/O鏈接到機(jī)器人手臂末端的連接器上，保證其功能。

　　4、PLC程序

　　在底層控制器中，使用編程軟件STEP 7 PROFESSIONAL V12的PTO運(yùn)動(dòng)控制指令，使用位置控制方式，控制4個(gè)轉(zhuǎn)向伺服電機(jī)，從而控制4個(gè)車輪的轉(zhuǎn)向角；另外，使用擴(kuò)展模擬量輸出模塊輸出電壓值，控制4個(gè)輪毅電機(jī)，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外，程序的好壞直接決定著運(yùn)動(dòng)性能的高。因此程序的編寫是整個(gè)設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機(jī)器人的高性能要求還有待改善

　　機(jī)器人控制器可以理解為完成機(jī)器人控制功能的結(jié)構(gòu)實(shí)現(xiàn)，因此機(jī)器人控制器是機(jī)器人最為核心的“心臟”，它從一定程度上影響著機(jī)器人的發(fā)展，高性能的工業(yè)機(jī)器人不單要實(shí)現(xiàn)PTP控制，而且還要實(shí)現(xiàn)CP控制。雖然說，采用基于PC的運(yùn)動(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項(xiàng)要求指標(biāo)，而電路設(shè)計(jì)以及編程相當(dāng)復(fù)雜，因此，PLC的控制接線完善和技術(shù)創(chuàng)新是一大難題。

　　PLC控制接線簡(jiǎn)單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制，因此，PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì)，還是需要一定的時(shí)間。因?yàn)楦咝阅芄I(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動(dòng)運(yùn)動(dòng)，不單單是實(shí)現(xiàn)PTP、CP的控制，還要達(dá)到在多軸協(xié)調(diào)控制、速度、加速度、運(yùn)動(dòng)精度等方面的要求。

　　目前，在PLC中，日本立石公司的PLC和ABB公司的PLC在微小型控制方面功能強(qiáng)大；等西門子公司的PLC雖然具備運(yùn)動(dòng)控制的功能，但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC，因?yàn)镸ITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運(yùn)動(dòng)控制功能，通過高速度的背板，處理器與伺服接口模塊可以進(jìn)行通訊，從而實(shí)現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達(dá)到從簡(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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194R-N60-1753 Non-Fused 194R Disconnect Switch

2090-CPBM7DF-16AA12 MP-Series 12m Standard Cable

2090-XXTFMP-S07 MP-Series 7 m Length Feedback Cable

CBL-T7-MB-30 Power/brake cable for MTR-3T10 or MTR-3T20 or MTR-3T40 series servo motors. 30 feet

GF-3041 Connecting FlashCable to Mark 10 BG/BGI Force Gage.

IC200UDR001 14 point PLC,(8) 24VDC In, (6) Relay Out,120V/240 AC Power Supply

IC646TPR700 ProServer 700 I/O Point Runtime System

IC647PATASD0 Proficy PAT - Driver For ASD

IC693ALG442LT Analog Combo Module 4IN/2OUT (LT)

IC752DVT240 VT100 Firmware: DataPanel 240, GE Fanuc Label, Allows DataPanel to be used as standard data entry terminal. UL, cUL, CE, UL1604

IFIXONNODE300C iFIX Upgrade to On-Node 300 Tag Standard Edition Historian with Alarm & Event Option, M1 Key

SLC/1746 System 1746-BAS-T BASIC MODULE (HIGH SPEED)

Industrial Computers 6186-M17SSTR VERSAVIEW 17 INCH MONITOR, RESISTIVE TOUCH SCREEN

Application-specific products 1404-M505A-232 MASTER MODULE - PQ 232 COM

Operator Interface 2711-T6C9L1 PV600 COLOR TOUCH, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3100PTS SUPT RENEWAL CONTRACT FOR 93012SE3100PT

Support 9380-RSBEDEQPR SUPT REINSTATEMENT CONTRACT FOR 9380RSBEDEQP

DeviceNet Products 1738-ADN12 DEVICENET ADAPTER M12

RSI Software Products 9301-2SE3200ZHU1 RSVIEW32 RUNTIME 150-300 UPGRADE IN-SUPT (ZH)

RSI Software Products 9358-BPCNT60U1R UPGRADE: OUT-SUPT: RSBATCH PC-BASED 03 TO 60

Motion Control MPL-B4520P-SJ24AA MOTOR,SERVO,6.1 NM,5000RPM,SINGL,460V,BRK,9.5KG

Motion Control 2090-SCVG150-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,150.0M

GFK-2251 Panel C Industrial Computer User's Manual

IC646MGRS10 Electronic Signature option for a 10 users Procify Change Management system.

MTR-1324-E-D-E-0 Stepping Motor Nema34, Series Wdg, Encoder

QPICTAE0000 10.4 inch Color TFT/ TCP/ Ethernet/ CF Card/ 110VAC

20BC030A3AYYANC1 PowerFlex 700 AC Drive 30 A at 15 kW 20B

20F11NC030JA0NNNNN PowerFlex 753 AC Packaged Drive

21G1APF370AN2NNNNN-ND-L1-P3-P22 PowerFlex Air Cooled 755 Packaged Drive

2711P-RGB15P PanelView Plus 7 Protective Overlay

280G-FN-10-RG ArmorStart Spare Parts

C200HW-ME04K EEPROM 存儲(chǔ)單元 4K

1492-PD3C287 760 A Power Distribution Block

中央處理單元 6ES7416-2XK04-0AB0 CPU416-2，2.8MB，40ns，電源 24VDC，MPI/PROFIBUS-DP 主站接口，PROFIBUS-DP 主站接口

變送器 3RS17062FD00

1495-N78 15 A Electrical Interlock Kit

1585J-M8TBJM-3 RJ45 Ethernet Media

1761-CBL-AP00 MicroLogix Cable

188-K3B160-N Miniature Circuit Breaker 16 A

194L-E16-1756 16 A 194L Load Switch

2090-CPBM4DF-16AF15 MP-Series 15m Length Cable

2090-XXNFMF-S15 Kinetix Drives 15m Standard Cable

BC647OEM0411B OEM Edge Renewal Add't Key - Historian

GC647PATBRK0 Proficy PAT - Driver For Bruker Ftir Spectrometers - Assist Support

IC200MDD844CA Conbal Coated MIX 24VDC OUT .5A/IN 16/16PT

IC646NRP000 Recipes

IC647MBEM MBE:Modicon Modbus Ethernet 7X

IC670TBM002 Aux. Terminal Strip, Qty. 2, Box Style

IC697MDL671RR Interrupt Input Module, 14 points

IC800SLR002 External regeneration resistor rated 100 ohm 225 Watt SL series and S2K series

ControlLogix/1756 System 1756-BATA REPLACEMENT BATTERY ASSEMBLY FOR 1756-BATM

Industrial Computers 6182H-15BRH15B VVCE 1500, KEY/TOUCH, STD MEM, CNET, AC

Process Control 1757-DNBEXP10 DEVICENET MODULE EXPANSION, 5-10 MAX

Operator Interface 2711P-ST6BM PV PLUS 600 GRAYSCALE, KEY/TOUCH STARTER KIT

Support 9326-AD10USS SUPT RENEWAL CONTRACT FOR 9326AD10USENE

Support 9371-EDES1R SUPT REINSTATEMENT CONTRACT FOR 9371EDES1

ControlNet Products 1734-TBSQ10 10 MODULES BASES W/ REMOVABLE IEC SPRING TERMINALS

RSI Software Products 9301-2SE240ITU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-B60U3 UPGRADE: IN-SUPT: RSBIZWARE BATCH 30 TO 60

Motion Control MPL-A430P-SJ24AA MOTOR,SERVO,5.42 NM,5000RPM,SINGL,230V,BRK,8.2KG

Motion Control 2090-UXNFM-S01 CABLE,ULTRA, DRIVE CN2 TO N/C,1M

CBL-1C-ET-10 Encoder Cable, MTR-1216, 1221 & 1231 Stepping Motors, 10 Ft.

IC630CCM310RR I/O Link Local Module

IC800SLCEZ100 Encoder Cable, 30-750 W SL Servo Motor, 10 Meters

OC647IFRCPM iFIX Optn: Recipe (M4 Part)

20AD5P0A0AYYNNG0 PowerFlex 70 AC Drive 5 A at 3 Hp 20A

20DD022A0NYNANBBE PowerFlex 700S AC Drive 20D

20P41AB218RA0NNN PowerFlex DC Drive 230V AC 60 HP

2711-NV7T PanelView Accessory

280-PWRM24B-M05 ArmorStart Three-Phase Power Media

CJ1W-SRM21 NEW CJ1用，主站單元

1492-MCBA170 70 A UL489 Miniature Circuit Breaker

1494V-DJ622 NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動(dòng)器 3RW44566BC44

工程組態(tài)編程軟件 6AV2103-2AD04-0BD5 SIMATIC WinCC 專業(yè)版 Powerpack WinCC Advanced -> WinCC 專業(yè)版 512 PowerTags V14

1585D-M4UBJM-35 Micro D-Code, QD Style Ethernet Media

1756-L71S Logix 5571S Automation Controller 2/1M

1799-AUXCON Distributed I/O Power Connector

194E-FA16-P11 194E Load switch

2090-CFBM6DF-CBAA12 TL-Series 12m Feedback Cable

2090-SCNP3-0 Kinetix 3-3m Fiber Optic Cable

BC646MPHSBA Logic Developer PDA Site License BASE

GC647AES001 GC PA Efficiency Server

HMI-CAB-C94 CABLE SQUARE D SYMAX MODEL 100 AND GREATER

IC641SWP800 SLconfig Software for SL Series Servo Amplifiers Configuration

IC647IFGLBLDPNSRVRM iFIX WebSpace Dependent Server

IC660EBD120 Electronic Assembly for IC660BBD120

IC697ACC621 115VAC fan tray to be used with Series 90-70 or RX7i short racks.

IC756WRE499E-23 DataViews Runtime for Windows 100+, Per User, English, Version 2.3

FlexLogix System 1794-OW8K CONFORMAL COATED, RELAY CONTACT OUT, 8 PT ISOLATED

PLC-5/1771 System D6200-6.4.11IT PLC5 PROG. SW INSTRUCTION SET REFERENCE (ITALIAN)

Process Control 1757-PLXSRU300 PLX REDUNDANT SERVER 100 TO 300 POINT EXPANSION

Operator Interface 2711P-T10C4B1 PV PLUS 1000, TOUCH, ENET, AC PS, STD MEM

Support 1788-FFCTS SUPT RENEWAL CONTRACT FOR 1788FFCT

Support 2707-NPR SUPT REINSTATEMENT CONTRACT FOR 2707NP

Support F1785-L46BSERB FIRMWARE UPGRADE FOR 1785-L46B PLC5 PROCESSOR MODU