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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(jī)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(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。移動機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)動控制器的實(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)

　　在對輪式全向移動機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動機(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)動系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動機(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)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)動性能的高。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)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，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)動控制指令就能實(shí)現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)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(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)動運(yùn)動，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)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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DeviceNet Products 1790D-4R0 DNET LDX, 4 INPUT RTD BSE,D-SHELL CONN

RSI Software Products 9301-2SE330FRU1R RSVIEW32 RUNTIME 300-1500 UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-PBEPB03ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 03 UNITS

Motion Control MPL-B580J-MK24AA MOTOR,SERVO,34.0NM,3800RPM,MULTI,460V,BRK,32MMSHAF

Motion Control 2090-UXLF-HV323 AC LINE FILTER,ULTRA,23 AMPS, 460V, 3 PHASE

GQSI31200S2P QUICKSTART KIT 10.5" STN GE LABEL

IC646NHR000 Server Redundancy

MTR-3T66-H-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1904 STXi b module 4 points, 220V AC (AC 170V ~ 264V)

SCXI-1163R

A30807-X5474-X-6-11

DEKTEC DTA-100

D915GEV

TOP-MB845VEA

PCI8234

1492-RCDA4B63 Residual Current Device 63 A

同步光纜 6ES7960-1AA04-5KA0 同步光纜 10m

變送器 3RS10 42-2GD70

1497-H-CXSX-0-N Control Circuit Transber

1606-XLE240E Power Supply XLE 240 W Power Supply

1762-RPLRTB40 MicroLogix 40 Point Replacement TB

188-K3D130-N Miniature Circuit Breaker 13 A

194L-HE4A-250 194L Control and Load Switch Actuator

2090-CPBM7DF-08AA09 MP-Series 9m Power and Brake Cable

2090-XXNPMF-14S12 Kinetix Drives 12m Standard Cable

BC647TPR935 "CIMPLICITY HMI ProServer 35,000 I/O Runtime System with Proficy GlobalCare"

GC647PSC025 Global Care for Proficy Process Systems 250 I/O with CIMPLICITY

IC200MDL750LT OUTPUT 12/24VDC POS LOGIC 0.5A PER PT (2 GROUPS OF 16) 32PT (LT)

IC646PME003 Proficy Change Management for Machine Edition 3 User Pack

IC647MTLM MTL:Mettler Weighing Terminals

IC684TROLI604 CIMPLICITY HMI Plant Edition Online Course -Module 4

IC697VAL306 Discontinued, future replacement is Embedded VME-6500. Contact GE IP Embedded for details.

IC800SSI407RD2 7.2 amp 480 VAC Devicenet S2K servo controller for MTR series motors

SLC/1746 System 1747-L553P PRO-SET 200 - 5/05 - 64K

Industrial Computers 6181P-12TPXPH VERSAVIEW INTEGRATED DISPLAY COMPUTER 12-INCH

Application-specific products 9358-PBBK30ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 30 UNITS

Operator Interface 2711-K5A12 PV550 MONOCHROME KEY, PBUS & RS232 PRINT

Support 9306-4EXP02S SUPT RENEWAL CONTRACT FOR 93064EXP02ENE

Support 9393-RSTHYDR SUPT REINSTATEMENT CONTRACT FOR 9393RSTHYD, PHYD

ControlNet Products 2711E-K10C15 PANELVIEW 1000E KEYPAD TERMINAL, 10.4" FLAT PANEL

RSI Software Products 9301-2SE2500U1 UPGRADE: IN-SUPT: RSVIEW32 WORKS 32K TO 100K

RSI Software Products 9358-BEPB30U2 UPGRADE: IN-SUPT: RSBW BATCH & EPROCEDURE 10 TO 30

Motion Control MPL-A4540C-SK24AA MOTOR,SERVO,10.2 NM,1500RPM,SINGL,230V,BRK,13KG

Motion Control 2090-XXNFY-S04 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,4M

CFBA-0WPB-0140-AZ Encoder Feedback Cable, BM Series Motors, 14 Meters

IC641PCC132 Logic Engine (runtime) with GUI - 128 Points

IC800SSD407RS1 7.2A, 480V, S2K Servo Drive for MTR Series Motors

PR-PAT-HS02 Proficy PAT - Driver For Spectranet-Coupled Hamilton Sundstrand Analect Ftir Spectrometers

PXI-6220

BP-5S

SPI-8451-LLVA

ENP-3927B

PCI-5SD

C2SBX

1492-MS5X12V31-40 Connection Products

1495-N64 Protective Fuse Cover

行程開關(guān) 3SE53120SF11

運(yùn)行版軟件 6AV2105-0DA14-0AA0 SIMATIC WinCC Runtime 專業(yè)版 512 PowerTags ASIA V14

1585J-M4TBJM-8 RJ45 Ethernet Media

1756-OG16 ControlLogix 16 Point D/O Module

188-K1C100 Miniature Circuit Breaker 10 A

194E-HE8A-175 IEC Load Sw Actuator Type A Gray/Black

2090-CFBM7DF-CEAA15 MP-Series 15m Servo Feedback Cable

2090-UXLF-136 Ultra Series 36A AC Line Filter

BC646PEW120 OP EWS Development Software 300 I/O w/GC

GC647IFCLNTS001 GCC iFIX iClientTS Each Additional User

IC200ALG320LT ANALOG OUTPUT 12 BIT CURRENT 4CH (LT)

IC646IFCLNTCRO100C iFIX iClient Read Only 100 PK Keyless (M1Component Part)

IC647IFPRDV00300C iFIX Profsnl SCADA 300 I/O Development (M1Component Part)