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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(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(yuǎn)程I/O等與上位機算機進(jìn)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(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)機器人不是孤立工作的，一個機器人工作站，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、移動導(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、自動化立體倉庫、噴涂設(shè)備、裝配設(shè)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(kuò)展性和兼容性。

　　為實現(xiàn)機器人對外部設(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(shè)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(jìn)行選型以后，根據(jù)移動機器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)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(dāng)線圈通電的時候，其對應(yīng)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(jìn)行可視化配置，以適應(yīng)不同機器人應(yīng)用程序?qū)/O設(shè)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(kuò)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(shè)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(biāo)，而電路設(shè)計以及編程相當(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(luò)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(dá)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(yuǎn)遠(yuǎn)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(jìn)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(dá)到從簡單的點到點的運動到復(fù)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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1770-CD8 Data Highway 800-800 ft Length Cable

189-ASCR3 MCB Accessory Signal Contact

194L-E12-4501 12A 194L Load Switch

2071-AP8 Kinetix 3 800W Component Servo Drive

2090-UXTBMP-18S20 MP-Series 20 m Length Brake Cable

20AC030A3AYNANG0 PowerFlex 70 AC Drive 30 A at 15 kW 20A

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GFK-1062 Series 90-70 High Speed Counter Manual (IC697HSC700)

IC210NDR024 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog bs. Not expandable,no LCD/Keypad, no cover.

IC647BSP010 Batch Small Server Pak (10 Units)

IC647PRTHE010M Proficy Portal Historian Edition Client Pack 10 Users (M4 Key)

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2090-XXNPMP-14S30 MP-Series 30 m Length Power Cable

CBL-14-ET-20 Encoder cable for MTR-1300 or MTR-1N series splashproof stepping motor. 20 feet

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GFK-0467 Series 90-30/90-20 Programmable Controllers Reference Manual

IC641VPP999 VersaPro Professional Edition Unlimited Seat Site License - Windows Programming Software for Series 90-70, Series 90-30 and VersaMax PLCs

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IC660BLR101 Cover w/Label for IC660BBR101

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CompactLogix System D1769-UM008AENP COMPACT 8-BIT LO RESOLU. ANLG I/O COMB USER MANUAL

PLC-5/1771 System D1771-6.5.122 SPI PROTOCOL INTERFACE MODULE CONCEPTS MANUAL

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IC752DVT240 VT100 firmware on DataPanel 240 allows DataPanel with touch screen capability to be used as standard terminal

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156-B25AB2 25 A Contactor

1746-HSCE SLC High Speed Module

1786-RPFRL CNet Fiber Ring Long Distance Repeater

193-T1AC12 9.0-12.5 A IEC Bibllic Overload Relay

20-FR09824 RECTIFIER MOD SUB-AS.(WITH BRK) FR9 400V

2090-CSBM1DF-14AA10 Kinetix Cable Single DSL 2090-Series

20AC015A3AYNADG1 PowerFlex 70 AC Drive 20A

GA647TPD700 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 700 I/O Development and Runtime System

GP647IFPRSR00150 GCP iFIX Profsnl SCADA 150 I/O Srv

IC600CB508RR 1K Register Memory Module (for use in Model 600 or 6000)

IC647HSTCS30KM Historian Enterprise Corporate Server 30000 Points (M4 Key)

IC647TSSRV005 Proficy Troubleshooter 5 User Server License

IC693PWR330RR Power Supply, 120/240 Vac, 125 Vdc, High Capacity

IC756RDV000E-97 DV Development - Irix Op Sys, English, Version 9.7

MicroLogix 1000/1761 System D1761-6.4 AIC + ADVANCED INTERFACE CONVERTER USER MANUAL

PLC-5/1771 System 1771-OFE1K CONFORMALLY COATED, ANALOG OUTPUT MODULE

Distributed I/O 1794-APB 1794-APB 12 MBPS PROFIBUS DP ADAPTER FOR FLEX I/O

Communications 9355-RSLETENE RSLINX ENTERPRISE

Operator Interface D6190-6.5.4DE CONTROLVIEW ALARMING USER MANUAL (GERMAN)

Support 9358-BBKEY03R SUPT REINSTATEMENT CONTRACT FOR 9358BBKEY03ENE

Support 9392-KBCDRSR SUBSCRIPTION RENEWAL FOR KNOWLEDGEBASE CD

RSI Software Products 9324-RL01U3ENER UPGRADE: OUT-SUPT: RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500U5R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 5000 TO 100K

RSI Software Products 9356-STD2350U2 UPGRADE: IN-SUPT: RSSQL STD 300 TO STD 5000 TAG

Motion Control Y-1003-2-H00AA MOTOR,SERVO,0.35 NM,4500RPM,ENCDR,230V,1.04KG

510-1000-004 POWER SUPPLY 24VDC 1.3AMP

IC200CPU001 CPU 12K USER PROG 1.80MSEC/K BOOLEAN ONE RS232 AND ONE RS485 SERIAL PORTS

IC694MDL754 12/24VDC Output (0.75 amps per point)Module 32 point. The module can be used on expansion bases (uses high speed serial bus). The module requires a terminal block (IC694TBB032 box style or IC694TBS032 spring clamp style terminal block).

MSI-WEB-25 Web or Excel Reporting Clients 25 Pack

VSPCSE-IMP VisualSPC SE Importer

20BD052A3AYNACD1 PowerFlex 700 AC Drive 52 A 40 Hp 20B

20G11LC2K1AN0NNNNN PowerFlex 755 AC Packaged Drive

22D-E1P7N104 PowerFlex 40P- 0.75 kW (1 HP) AC Drive

140NOC77100 Quantum Quantum Ethernet/IP通訊模板

291D-FAZ-G1 Direct Online Reversing Starte

MY2NJ-CR NEW 220VAC，有阻容吸收回路，2開2閉，觸點5A.中國制

1492-SPM2C630 MCB Supplementary Protector 63 A

軟啟動器 3RW30362BB14

電機啟動器 3VU16400CG00

150-F251NCD SMC Flex Smart Motor Controller

1732E-16CFGM12P5QCWR Armor WeldBlock 16 Point Configurable QC

1771-P6R 1771 Power Supply

193-EEEB E1 Plus 5.4-27 A IEC Overload Relay

199-MSMD1 Surge Suppressor

2090-CPWM7DF-08AF04 4 m Length SpeedTec Pwr and Brake Cable

2097-F5 Kinetix 300/350 6.90 A Line EMI Filter

EDS-WK Wall mount kit for EDS series switches

GFK-1533 Manual VersaMax DeviceNet Network Communications

IC220ALG221 Analog Input module, 8 channels, voltage/current. 15bit resolution. Requires 4 out of the 5 IC220TBK062 (5 in a pack) terminal strips.

IC647CGMS35 CIMPLICITY HMI Server GM Site License with 35 Thinview Clients

IC647PRTOSIM Proficy Portal OSI PI Connector (M4 Key)

IC693DSM314 DSM314 motion controller module

IC756ADV001K-98 DV Development - AIX Op Sys Addt'l User, Korean, Version 9.8

MSI-MAINT 5 Day x 9 Hour Support

SLC/1746 System 1746-RT35 TERMINAL BLOCK FOR THE 1746-NR8 MODULE

Distributed I/O 1738-OB8EM12 24VDC 8 SOURCING OUTPUTS WITH M12 CONNECTORS

Communications 2760-SFC1 PROTOCOL CARTRIDGE (RS-232 & RS-422)

Operator Interface 2711-NP3 MOUNTING STUDS PV1400

Support 9302-SCAS SUPT RENEWAL CONTRACT FOR 9302SCA

Support 9324-RL5300ITS SUPT RENEWAL CONTRACT FOR 9324RL5300IT

DeviceNet Products 2706-P44R INVIEW MESSAGE DISPLAY. 1 OR 2 LINE

RSI Software Products 9301-2SE335DEU3R RSVIEW32 RUNTIME 1500-5K UPGRADE OUT-SUPT (DE)

RSI Software Products 9371-DOCXENE RSWIRE DOCX DOCUMENT VIEWER

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HE693RTD600 RTD Input, 6 channel, 3-wire, 0.5癈 res., -100 to +850癈 range (Pt-100)

IC660ELB906 PCIM (XT/AT Interface Board) & S/W Driver (IC641GBE647)

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