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　機器人誕生之日起人們就不斷地嘗試著說明到底什么是機器人。但隨著機器人技術(shù)的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內(nèi)容越來越豐富，機器人的定義也不斷充實和創(chuàng)新。機器人技術(shù)作為20世紀人類最偉大的發(fā)明之一，自20世紀60年代初問世以來，經(jīng)歷40多年的發(fā)展已取得長足的進步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機器人已成為智能制造和工業(yè)自動化的關(guān)鍵技術(shù)和重要產(chǎn)品，也是數(shù)控機床走向自動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)，能實現(xiàn)PLC、變頻器、遠程I/O等與上位機算機進行連接，來構(gòu)造出一種多級式分布系統(tǒng)。

　　1

　　舉個例子

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

　　工業(yè)機器人不是孤立工作的，一個機器人工作站，往往需要外圍設備的配合，比如工裝夾具、傳送帶、焊接變位機、移動導軌等等，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、自動化立體倉庫、噴涂設備、裝配設備等等。

　　2

　　工業(yè)機器人的自動控制系統(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整個系統(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)采集的實時性等。移動機器人運行環(huán)境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運動控制器至關(guān)重要，既要滿足系統(tǒng)要求，又要具有良好的可擴展性和兼容性。

　　為實現(xiàn)機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數(shù)，這些控制函數(shù)可以直接訪問機器人的硬件寄存器來控制機器人的運行，而這些控制函數(shù)可以使得設備驅(qū)動程序不再依賴于具體硬件，所以，通過調(diào)用控制函數(shù)接口就可以實現(xiàn)對機器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機器人控制系統(tǒng)硬件進行選型以后，根據(jù)移動機器人的硬件組成進行電氣系統(tǒng)設計。移動機器人的電氣系統(tǒng)主要包括三個部分：主電路、伺服驅(qū)動系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動機器人控制系統(tǒng)主電路通過PLC和繼電器實現(xiàn)控制。即由繼電器由線圈和輔助觸點兩部分組成。當線圈通電的時候，其對應的常開觸點閉合，常閉觸點斷開。

　　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)的工程配置模塊進行可視化配置，以適應不同機器人應用程序?qū)/O設備的不同需求。其主要是機器人將其他信號作為末端執(zhí)行器I/O使用，末端執(zhí)行器I/O鏈接到機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運動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機，從而控制4個車輪的轉(zhuǎn)向角；另外，使用擴展模擬量輸出模塊輸出電壓值，控制4個輪毅電機，驅(qū)動機器人運動。排除硬件的因素外，程序的好壞直接決定著運動性能的高。因此程序的編寫是整個設計中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機器人的高性能要求還有待改善

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

　　PLC控制接線簡單，只要通過運動控制指令就能實現(xiàn)對機器人的運動控制，因此，PLC想要在機器人多軸運動協(xié)調(diào)控制、網(wǎng)絡通訊方面取得優(yōu)勢，還是需要一定的時間。因為高性能工業(yè)機器人主要是各關(guān)節(jié)的驅(qū)動運動，不單單是實現(xiàn)PTP、CP的控制，還要達到在多軸協(xié)調(diào)控制、速度、加速度、運動精度等方面的要求。

　　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大；等西門子公司的PLC雖然具備運動控制的功能，但遠遠不及MITSUBISHI PLC，因為MITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運動控制功能，通過高速度的背板，處理器與伺服接口模塊可以進行通訊，從而實現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業(yè)機器人的要求。
 

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2090-XXTFMP-S30 MP-Series 30 m Length Feedback Cable

CFDA-0WPB-0070-AZ "AHVi, AHVis, Bis and BHVis Series Motor Encoder Feedback Cable, Straight Connector, 7 M"

GF-3610R Connecting FlashCable to CDI Torque Wrench (PET-M/S).

IC200UDR005 28 point PLC,(16) 24VDC In, (11) Relay Out, (1) 24VDC Out, 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. B attery not included.

IC646TRT075 75 I/O Point Runtime System

IC647PATCDI0 Proficy PAT - Driver For CDI

IC693APU300RR High Speed Counter (HSC)

IC752FPY000RR Industrial Floppy Drive in Case for Touch Displays

IMC-101-M-ST-T 10/100 baseT to multi-mode ST fiber converter (-40 to 75 deg C op temp)

SLC/1746 System 1746-P1 POWER SUPPLY - RACK MOUNT

Industrial Computers 6186-M20SS VERSAVIEW 20 INCH MONITOR, TEMPERED GLASS

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Operator Interface 2711-K10C12L1 PV1000 COLOR KEY, PBUS & RS232 PRINT

Support 9301-2SE3200DER SUPT REINSTATEMENT CONTRACT FOR 93012SE3200DE

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DeviceNet Products 1792D-0B4D 4 SOURCING OUTPUTS UP TO 2 AMPS, 4 CONNECTORS

RSI Software Products 9301-2SE3203ITE RSVIEW32 RUNTIME 300 WITH RSLINX (ITALIAN)

RSI Software Products 9358-BPMGR01ENE RSBATCH PRODUCTION MANAGER (SUPT 1 BATCH SVR)

Motion Control MPL-B4530F-MK22AA MOTOR,SERVO,8.36 NM,2800RPM,MULTI,460V

Motion Control 2090-SCVG5-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,5.0M

GFZ-65192EN Alpha SVU Series Amplifier Debion Manual

IC646MPM101 Logic Developer - PLC Nano/Micro w/Programming Cable

MTR-1331-J-E-D-E-S Stepping Motor Nema34, Series Wdg, Encoder, Splashproof

QPJ-DVN-202 Communication Module for 5 inch & 6 inch: DeviceNet Slave

20BC037A0AYNAND0 PowerFlex 700 AC Drive 20B

20F11NC060AA0NNNNN PowerFlex 753 AC Packaged Drive

22-COMM-L PowerFlex LonWorks Adapter

2711P-RGK6 PanelView Plus Accessory

280S-M24M-M1 ArmorStart Three-Phase Power Media

C200HW-COM02-V1 通信板RS232端口一個

1492-PDE1C112 200 A Enclosed Power Distribution Block

數(shù)字量輸入/輸出模塊 6ES7421-1EL00-0AA0 DI/32 120V AC,浮點式

變送器 3RS10001CD20

1495-N85 Variable Depth Circuit Breaker Accessory

1585J-M8TBJM-6 RJ45 Ethernet Media

1761-CBL-PM02 MicroLogix Cable

188-K3B320 Miniature Circuit Breaker 32 A

194L-E20-1752 20A 194L Load Switch

2090-CPBM4DF-16AF60 MP-Series 60 m Length Cable

2090-XXNFMF-S60 Kinetix Drives 60m Standard Cable

BC647OEM0510 OEM Edge Program Additional Key - Complete (Approval Required)

GC647PATFS00 Proficy PAT - Driver For Foss Near Infrared Systems Near-Ir Spectrometers - Assist Support

IC200MDD846LT MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 120VAC GRP 8PT (LT )

IC646NSF000 Siemens TCP/IP OPC Server. Supports S7 & S5 controllers

IC647MBS001 Machine Edition Standard Development Suite with USB Hardware key

IC675PDI081 Profibus Station IP67 24VDC Positive Logic 8 Inputs

IC697MDL752 12 Vdc Output, 0.5 Amp, Positive Logic (32 Points)

IC800SSD104RS1RR 4.3A, 115/230V, S2K Servo Drive for MTR Series Motors

ControlLogix/1756 System 1756-DPALEN CONTROLLOGIX SYSTEM DOCUMENTATION SET PRINTED

Industrial Computers 6182H-15BRH6D VVCE 1500, KEY/TOUCH, STD MEM, RIO/DH, DC

Process Control 1757-DNBEXP65 DEVICENET MODULE EXPANSION, 50-65 MAX

Operator Interface 2711P-ST7B PANELVIEW PLUS 700 KEY/TOUCH COMBO STARTER KIT

Support 9326-AD1USR SUPT REINSTATEMENT CONTRACT FOR 9326AD1USENE

Support 9371-EDES3S SUPT RENEWAL CONTRACT FOR 9371EDES3

ControlNet Products 1794-ACN15 SINGLE MEDIA ADAPTER FOR CONTROLNET

RSI Software Products 9301-2SE240JPU3R RSVIEW32 WORKS 150-32K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BA10ENE RSBIZWARE BATCH ARCHIVER 10 UNITS

Motion Control MPL-A4520K-HK22AA MOTOR,SERVO,6.10NM,4000RPM,ENCDR,230V,6.8KG

Motion Control 2090-UXNPAMP-10S01 CABLE,NOGRF50X,MOTOR POWER,MP,10 GAUGE,1M

CBL-203 Modicon 984 Cable

IC630MDL354RR 5-12Vdc (TTL) Sink/Source Output Module (32 points)