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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)場控制的總線網(wǎng)路系統(tǒng)，DIN是德國工業(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)化立體倉庫、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)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動(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控制接線簡單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對機(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，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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2071-AP2 Kinetix 3 200W Component Servo Drive

2090-CSWM1DF-14AA03 Kinetix Cable Single DSL 2090-Series

20AC1P3C3AYNANC0 PowerFlex 70 AC Drive 20A

GC646MDG001 GE Fanuc SRTP OPC Server with Global Care

HE693DNT750 Discontinued Part. Check with GE IP on migration path.

IC600WD025 Expansion Rack I/O Cable, 25 feet (7.5m)

IC647HSTMK030 Historian Media Kit v3.0

IC660BBA020 Block 24/48Vdc Analog 4 Inputs / 2 Outputs

IC694MDL654CA Conbal Coated Input module 32 points 5/12VDC TTL POS/NEG logic. Termi nation is a Fujitsu connector.

IC756WDC009E-99 DV Development Sys VB, Java, C++, English, Version 9.9

MicroLogix 1500/1769 System 1761-NET-DNI DEVICENET INTERFACE (DNI)

PLC-5/1771 System 1784-CP7 ADAPTER, CP/CP5 TO PLC-5 (DIN)

Distributed I/O 1797-TPS CONTROLNET EX T-TAP STRAIGHT

Communications D9220-6.5.1 DEVELOPERS GUIDE-CONTROL

Support 9321-L5250R SUPT REINSTATEMENT CONTRACT FOR 9321L5250

Support 9358-HSTATHS SUPT RENEWAL CONTRACT FOR 9358HSTATH

Support F1772-LI FIRMWARE UPGRADE FOR 1772-LI PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300ENE RSLOGIX 5000 STANDARD, ENG

RSI Software Products 9304-WVPD300DU3R UPGRADE: OUT-SUPT: WINVW 128 TO WINVW PRO DEV 3000

RSI Software Products 9358-PLTM2600U1 UPGRADE: IN-SUPT: PLANTMETRICS 5 TO 200 WORKCELL

Motion Control 8720SM-075-S6SAS2 75 KW/137 AMP, 750VDC, AC MOTOR WITH SRM60 ENC.

A06B-0034-B175#7008 B6/2000 Servo Motor, Holding Brake, 32K Serial Encoder

IC200UAA003 14 point (8) AC In, (6) AC Out, AC Power Supply

IC752BCL000 Download cable for DataPanel 150/160/240E

MTR-1350-E-D-E-SRR Stepping Motor Nema34 Encoder Splashproof

ZA06B-0079-B203#0100 B12/3000HVis High Voltage Servo Motor with Straight Shaft, Key and IP67 Sealing

20BD292A0ANNNND0 PowerFlex 700 AC Drive 20B

20G11RD8P0AA0NNNNN PowerFlex 755 AC Packaged Drive

25-JBAA PowerFlex 520 Frame A NEMA/UL Type 1 Kit

140XCP51000 Quantum 空槽模塊, 帶懸掛門

FRN15F1S-4C 22KVA 30 A 15 KW 3相AC380V/50Hz/60Hz

Z-15GW22-B 觸點(diǎn):1開/1閉,15A 250VAC機(jī)械壽命:1000萬次合頁滾珠短擺桿型

1492-SPM3C130-N MCB Supplementary Protector 13 A

軟啟動(dòng)器 3RW40472BB14

熱電偶模擬量輸入模塊 6ES7 231-5QD32-0XB0 SM 1231 AI 4 x 16 位熱電偶

150-SB3NBD SMC-50 SOLID STATE MOTOR CONTROLLER 140A

1734-RTB3 POINT I/O Accessory

1783-MS10T Stratix 8000 10 Port Managed Switch

193-ESM-IG-30A-P E300/E200 30 Amp Sensing Module

20-750-I1B-C567D545 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF40 MP-Series 40 m Length Power Cable

2098-DSD-HV150X Ultra 3000 Servo Drive

GA647IFCLNTCRO001 GCA iFIX iClient Read Only 5 PK Keyless Runtime Version

GP-0602NT-FSB GagePort LVDT NT (Full Bridge) - Sales BOM.

IC5005KAX0020 PanelPC Workstation 15 inch with Windows XP

IC647HSTAE250KM Alarm and Events Option for Historian - Standard Server 250000 Points (M4 Key)

IC647SQDM SQD:Square D SY/MAX

IC693MDL734CA Conbal Coated Output module 125VDC, 1amp, 6 point, isolated per point

IC756HDV010CT-99 DV Draw Development on HP/UX Op Sys, Traditional Chinese, Version 9.9

Pico Controllers 1760-L12BWB 12 I/O PICO CONTROLLER W/ RTC, DC

PLC-5/1771 System 1771-INGA50 1771 DISCRETE I/O BACKPLANE INTERFACE ASIC

Distributed I/O 1791D-8B8P DNET 24VDC CBLOCK I/O,8 IN SINK 8 OUT SOURCE, BASE

Communications 1784-PCMC1 PCMCIA 1784-PCMK CARD W/1784-PCM6

Operator Interface 2706-P72CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

Support 9305-RSVADSPTS SUPT RENEWAL CONTRACT FOR 9305RSVADSPT

Support 9515-RSMSVRR SUPT REINSTATEMENT CONTRACT FOR 9515RSMSVRENE

EtherNet/IP Products 2711-T10C20 PV1000 COLOR TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE340DEU3R RSVIEW32 RUNTIME 150-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9356-PRO2200U5R UPGRADE: OUT-SUPT: RSSQL PROF.150 TO 300 TAG

Motion Control 1326AB-B720F-M2K7L MOTOR,SERVO,460V,31.8NM,5000RPM,MULTI,BRK,IP67

4161-6-5-N12 BCD TO 7 SEG DISPLAY. 6 DIGIT. 5 VDC. NEMA 12

HMI-CCT-405 Backlight for the 12.1" Color TFT (QPLCxxE0000)

IC693CPU331 CPU 331 Module (16K Bytes)

SM1000BBB QUICKMARQUEE BRACKETS BACK TO BACK FOR SM4204 (SET OF 2)

TRM-21006680 9 point screw terminal AC power connector for IMC-105 stepper controller

20BD011A0AYNANC0 PowerFlex 700 AC Drive 20B

20F1ANF263JN0NNNNN PowerFlex 753 AC Packaged Drive

22B-E9P9F104 PowerFlex 40 5.5 kW (7.5 Hp) AC Drive

140HLI34000C Quantum 高速鎖存/計(jì)數(shù)模塊,24 VDC, CC

284G-FVD4P0D-10-RRG-CBG-DB1-EMI ArmorStart 284 Controller

E2Q-N25ME3-G 25mm,電感式,一常開/閉 200mA NPN電源:12-24VDC方40×40

1492-SPM1C500-N MCB Supplementary Protector 50 A

通用型變頻器 6SE6 440-2UC21-1BA1 "1.1 KW,149 x 202 x 172"

電機(jī)啟動(dòng)器 3VU13402MM00

150-C25FBD Encl. SMC-3 25 A Smart Motor Controller

1609-B600E Uniterruptible Power Supply

1770-KFDG RS-232C to DeviceNet Interface Module

193-EC1CB E3 5-25 A Overload Relay

194R-TL4 Terminal Lugs, 600Mcm, Kit

2090-CPBM7E7-10AF09 MP-Series 9 m Length Pwr and Brake Cable

2093-AM02 Kinetix 2000 Axis Module

CP6B-0WPB-0140-AZ Power cable for B22/2000is motor. 14 meters

GF-AU2.5V Connecting FlashCable to Analog Unipolar +2.5 V (No connector).

IC200UEX015 14 point Exp (8) 12VDC In, (6)12VDC Out, 12VDC Power Supply (includes IC200CBL501)

IC647AEC005 PA Efficiency Client 5 Pak

IC647PCM100 Proficy Change Management Server - 100 Concurrent Users

IC693CBL331 Cable, Left Side, Two - 24 Pin 90 Degree Connectors, 2 Meter

IC754CBF12CTD Control 64MB/64MB 12in Color TFT Blank

IMC-31PP-2-DRR IMC-D Series Servo Motor Controller, Enhanced, DeviceNet 24 Amp

SLC/1746 System 9399-S5SR 9399-S5SR SLC-500 A.I. SERIES SOFTWARE REFERENCE

Distributed I/O 1732D-IB8M12 DEVICENET 24VDC 8 INPUT W/M12