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　機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)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(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(lèi)最偉大的發(fā)明之一，自20世紀(jì)60年代初問(wèn)世以來(lái)，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(lái)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(guò)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(lái)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(kāi)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)說(shuō)，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(kāi)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(chē)、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(lái)說(shuō)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(wèn)機(jī)器人的硬件寄存器來(lái)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(guò)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(guò)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(kāi)觸點(diǎn)閉合，常閉觸點(diǎn)斷開(kāi)。

　　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(guò)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(chē)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(xiě)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(shuō)，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(wú)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(guò)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(mén)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(guò)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(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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25-PM2-D6P0 PowerFlex 520 2.2kW (3Hp) Power Module

2711P-RP8D PanelView Plus 6 700-1500 Logic Module

FRN5.5G11S-4CX 10 KVA 13 A 5.5 KW 3相AC380V/50Hz/60Hz

1492-J50-B IEC 1-Ckt Feed-Through Blk 50mm

1492-SPM3D630 MCB Supplementary Protector 63 A

軟啟動(dòng)器 3RW40566BB35

CPU 模塊 6ES7 515-2AM01-0AB0 CPU 1515-2 PN，500 KB 程序，3 MB 數(shù)據(jù)；30 ns；集成 X1: 2x PN 接口，X2: 1x PN 接口

152H-C201XBD-52 SMC-3 Enclosed Motor Starter

1738-OB8EM23 ArmorPoint 8 Point Output Module

1785-ACC5LB PLC-5 Accessory Kit

193-NREEHZ E1 Plus Replacement Overload Relay

20-COMM-B PF ARCH. CLASS BACNET/MSTP ADAPTER

2090-CSBM1DE-18AA09 Kinetix Cable Single DSL 2090-Series

20AB9P6C3AYNANC0 PowerFlex 70 AC Drive 9.6 A at 3 Hp 20A

GA647IFPRSRUNLMT GCA iFIX Profsnl SCADA Unlmt Srv

GP647IFPLDV00150 GCP iFIX Plus SCADA 150 I/O Dev

IC600BF914RR Reed Relay Output Module (6 points)

IC647HSTCR2000KM Collector Redundancy Option for Historian - Standard Server 2,000,000 Points (M4 Key)

IC647TPD915 CIMPLICITY HMI ProServer 1500 I/O Development & Runtime System

IC693PCM311 Prog. Coproc. Mdl., 640 KB (190 KB Basic Prgm), w/Port Exp. Cbl.

IC756MDV000E-99 DV Development - Alpha OpenVMS Op Sys, English, Version 9.9

MicroLogix 1000/1761 System 1761-L32BBB 32 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-IR RTD INPUT MODULE, 3-WIRE RTD'S

Distributed I/O 1792D-4BVT4D 4 SINK/SOURCE INPUTS, 4 SOURCING 0.5 AMP OUTPUTS

Communications 1787-DNPS DEVICENET CLASS II 24VDC POWER SUPPLY

Operator Interface D6190-6.5.18 CONTROLVIEW BATCH MANAGEMENT SW(6190-BAT)MANUAL

Support 9356-STD2100R SUPT REINSTATEMENT CONTRACT FOR 9356STD2100

Support 1789-L30R SUPT REINSTATEMENT CONTRACT FOR 1789L30

EtherNet/IP Products 9351-WKTSRT INTERCHANGE FOR WINDOWS RUNTIME

RSI Software Products 9301-2SE3500JPU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (JP)

RSI Software Products 9356-PRO2500U9 UPGRADE: IN-SUPT: RSSQL PROF.32000 TO 70000 TAG

Motion Control 0041-5071 N-5600 SHAFT SEAL KIT

44A735709-003 Failure Analysis - PowerMotion

IC200CBL120 CABLE I/O NON-SHIELDED 2 CONNECTORS 2.0M

IC694ALG442 ANALOG COMBINATION MODULE CURRENT VOLTAGE 4 INPUT 2 OUTPUT

MSI-SOL-PROVIDER MSI-SOL-PROVIDER

VSPC32-IMP50 VisualSPC Importer, 50 license pack.

20BD034A0AYYANA0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GC2P1JA0NNNNN PowerFlex 755 AC Packaged Drive

22D-B033N104 PowerFlex 40P- 7.5 kW (10 HP) AC Drive

140CRA21110 Quantum DIO站適配器和電源,115/230VAC,獨(dú)立,3A

290D-FAP-G1-3 Direct Online Starter

熱電偶/PT100輸入，繼電器輸出，3個(gè)報(bào)警

1492-SPM2B250 MCB Supplementary Protector 25 A

軟啟動(dòng)器 3RW30162BB04

電機(jī)啟動(dòng)器 3VU16401MQ00

150-F108NBRB SMC Flex Smart Motor Controller

1732D-16CFG1212W Armor WeldBlock 16 Point Block

1771-NT2 1771 Analog Module

193-EC5PB E3 Plus 0.4-2 A Overload Relay

198E-DF14168 Ip66/Nema 4/4X/12 Metal Hinged Enclosure

2090-CPWM6DF-16AA03 TL-Series 3m Standard Power Cable

2094-EN02D-M01-S1 Kinetix 6200/6500 Control Module

DNR240PS24-I FIELD PSU 24VDC 10A

GFK-0870 Host Communications Toolkit for C/C++ Applications User's Manual

IC210EMS001 Modbus RTU slave communications expansion module, 24V DC power source

IC647AUR025 PA Universal Reporting Client 25 pak

IC647PRTEE010M Proficy Portal Enterprise Edition Client Pack 10 Users (M4 Key)

IC693CPU341RR CPU 341 Module, (80K Bytes user memory), 10K Reg., 3 msec/K

IC754VSB06CTD VIEW BASIC 6IN TFT TOUCH DC

MSI-DEMO Proficy Plant Apps Demo Software

SLC/1746 System 1746-RL51 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OB16

Distributed I/O 1734-VHSC5 5 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

Application-specific products 9307-8MGDBPENE RSEMETRIX MGR(0-8 METERS),W/1MSSQL PROCESSOR LIC

Operator Interface 2711-NC13 5METER RS232 OPERATING/PROGRAMMING CABLE

Support 9302-H1S SUPT RENEWAL CONTRACT FOR 9302H1

Support 9510-PB1000ENS SUPT RENEWAL CONTRACT FOR 9510PB1000EN

DeviceNet Products 1799-DNETSCON 5-POSITION OPEN STYLE PLUG/LOCKING SCREWS FOR DN

RSI Software Products 9301-2SE3350KOU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (KO)

RSI Software Products 9307-EMDB1C RSEMETRIX ONE CLIENT LICENSE

Motion Control MPL-B980C-MJ24AA MOTOR,SERVO,122.0NM,1500RPM,MULTI,460V,BRK

Silver Series 1398-DDM-150X DRIVE,150A,PEAK,ULTRA 200 W/INDEXING

HE693ADC415 4ch., 4-20mA/0-20mA Analog Input, 700Vac Isolation, 14-bit resolution

IC647CBL703 Cable, Workstation Intf. to Series 90-70 CPU, Parallel, 10 feet

QPH2D100L2P QUICKPANEL 6" MONO LCD HAND HELD

ST-3708 STXi analog b module 8 Channels, RTD Connector Type

20BC140A3ANNACC0 PowerFlex 700 AC Drive 20B

20F1AGC104JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-D4P0H204 PowerFlex 4- 1.5 kW (2 HP) AC Drive

140DAI34000 Quantum 開(kāi)關(guān)量 AC 輸入, 16點(diǎn), 24 VAC, 隔離

284D-FVD1P4B-10-CR-SB DeviceNet Variable Frequency Drive

CJ1W-AD041-V1 4點(diǎn)模擬量輸入單元（1-5V,0-5V,0-10V,-10-10V,4-20MA）分辨率：1/4000

1492-RTB16N 16 Pole RTB Plug Assembly

WinCC 上位監(jiān)控軟件 6XV1850-0AH10 ITP 電纜/每米

變送器 3RS17032CD00

1497A-A4-M6-0-N 150VA 240x480-120 60Hz CPT

1606-XLP60EQT AC DC In 24 to 48VDC Out 60W Low Temp PS

1768-KY1 CompactLogix L43/L45 Replacement Key

188-K4C200 Miniature Circuit Breaker 20 A

194R-30-NN 194R30A UL 40A IEC 4th Power Pole Module

2090-CPBM7DF-10AA60 MP-Series 60m Standard Cable

2090-XXNPMP-10S90 MP-Series 90 m Length Power Cable

CBL-13-ED-20 Encoder cable for MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors connected to IMC or S2K. 20 feet

GC647SVW001 Scheduler Desktop View Client

IC200PWR102 POWER SUPPLY WITH EXPANDED 3.3VDC 120/240VAC INPUT

IC646TBLSS150K Proficy Troubleshooter for Inbligent Historian for Hist 150000 Points

IC647NGS000 CIMPLICITY HMI SHARP TCP/IP Communications Driver

IC693ACC300 Input Simulator Module

IC698CRE040 1.8GHz CPU, Ethernet, Redundancy

IC800VMCB1030 Motor power and brake power cable for 1 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-IO4 COMBINATION MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-7P2KH VERSAVIEW 6180W NON-DISPLAY COMPUTER, 7 SLOT

Application-specific products 6556-PA0PM4 CLUTCH/BRAKE KIT W/ARMED CONTINUOUS PUSHBUTTON

Operator Interface 2711-T5A14L1 PV550 MONO TOUCH, MBUS & RS232 PRINT

Support 9301-2SE2200PTS SUPT RENEWAL CONTRACT FOR 93012SE2200PT

Support ABTS-W103S ABT-SW103 PATHFINDER SW SUPPORT RENEWAL