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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個轉(zhuǎn)向伺服電機(jī)，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(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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MTR-1337-N-D-E-S MTR series NEMA 34 splashproof stepping motor with series winding connection

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2090-CPBM4DF-14AF02 MP-Series 2 m Length Pwr and Brake Cable

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BC647OEM0210 OEM Edge Program Additional Key - CIMPLICITY (Approval Required)

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IC647ITMC ITM:Intermec Barcode Readers

IC670MDL644RR 24VDC Pos/Neg Logic Fast Input 16 pt. Grouped

IC697MDL350RR 120 Vac Output, 05 Amp (32 Points)

IC800SLCPV050 Power cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor. 5 meters

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Industrial Computers 6182H-12TEH6B VVCE 1250, TOUCH, EXT MEM, RIO/DH, AC

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IC610MDL126RR 115Vac Isolated Input (4 points)

IC800SLA2502 2500W, 230VAC SL Series Amplifier

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PXI-2546

MB945

PCIE-9450-R30

ATP-24A

SBC-9830

03-20932-03

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Safety Advanced V14 6ES7833-1FB14-0YA5 STEP 7 Safety Basic V14 SP1

1585D-M4UBDM-60 1585D Ethernet Media Patchcord

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194E-E63-1753-6A 63 A 194E Load switch

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BC646MDG001 GE FANUC SRTP OPC Server with Proficy GlobalCare Complete

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FlexLogix System 1794-OB16 24V DC SOURCE OUTPUT MODULE, 16 POINT

PLC-5/1771 System D1785-6.5.19 1785ENET PLC5 ETHERNET INTERFACE MODULE USR MANUAL

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MTR-3T11-G-R-0-M-0-MODRR Servo Motor Metric Modified

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MicroLogix 1200 System 1762-RPLTLBL2 REPLACEMENT LABELS FOR 1762 I/O MODULES

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IC200MDL631 INPUT 125VDC POS/NEG LOGIC ISO 8PT

IC697CPU780 Hot Standby Redundancy CPU, 386, 12K Discrete I/O, Exp. Mem., Floating Pt.

MTR-1324-E-D-E-S-MODRR Stepping Motor N34 3A Encoder SP MOD=Woodruff Key

ExpressCard-GPIB

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HY-1206-2D11

801-8422-01 M

AD16-16(PCI)EV

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150-F60NCD SMC Flex Smart Motor Controller

1734-IB2 POINT I/O 2 Point Digital Input Module

1783-BMS12T4E2CGNK Stratix 5700 18 port managed switch

193-EJM E1 Plus Jam Protection Module

20-750-DCBB1-F7 PowerFlex 750 Frame 7 DC Busbar Kit

2090-CPWM7DF-10AF90 MP-Series 90 m Length Power Cable

2098-DSD-010-DN Ultra 3000 Servo Drive

G-0008-A Footswitch Splitter (Y Cable)

GFK-2085 Connector and I/O Cable Application Guide

IC220PWR012 SEGMENT TERMINAL, FUSED 24VDC (REQUIRES 1 IC220TBK087)

IC647DNP005 DNP3 Master Protocol for 5000 points

IC647ROC100M ROC:Fisher Remote Operations Controller for 500 Units

IC693MDL632CA Conbal Coated Input module 125 VDC 8 point NEG/POS logic.

IC756DVE000E-98 EO GECK (Graphical Editor Construction Kit) - Unix, English, Version 9 .8

MSI-QUAL-10 Quality Management Clients 10 Pack

PLC-5/1771 System 1771-ALXK CONFORMALLY COATED, PLC-5 LOCAL I/O ADAPT. MODULE

Distributed I/O 1790-T8BV8VX LDX I/O, 24VDC, 8 UNIV IN/8 SINK OUT EXPN TERM BLK

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Motion Control 1326AB-B410J-S2L MOTOR,SERVO,460V,2.7NM,7250RPM,SINGL,IP67

2225 Greyline OS, 4 Line, (20) 4MM Chars, LCD. ASCII /Serial Interface, NEMA 4

HE800ACC012 Cage-clamp (screw) style I/O plug, 12-terminal. (Qty 1)

IC693ACC317 Connector Kit, 24 Pin, Qty (10), Crimp Type (For MDL654, 655, 752, 753)

QPK3D200C2P/B QUICKPANEL 6" TFT COLOR BLANK

TGT-000A-4-0 Target series 4-axis motion control module

SCC-AO10

Stradis SDM280e

SBC 92-506396-003 PCA-0166-00

JEVSA-YV250

HG2-6300P

MK300-PIO16/16

1492-SPM1B500 MCB Supplementary Protector 50 A

直流電源 6EP1437-2BA10 3 相 400-500VAC 輸入，24VDC/40A 輸出

電機(jī)啟動器 3VU13400MF00

1497D-A16-M10-0-N Gen Purpose Transber

1608G-3F1 I-Grid 3-Channel Subbion Renewal

1769-OB32 CompactLogix 32 Pt 24VDC D/O Module

190S-AND2-CB40D-TE 2.5-4.0 A Compact Comb Starter W/Ckt-Bkr

194R-N60-1753 Non-Fused 194R Disconnect Switch

2090-CPBM7DF-16AA15 MP-Series 15m Standard Cable

2090-XXTFMP-S09 MP-Series 9 m Length Feedback Cable

CBL-T7-MP-10 Power cable for MTR-3T10 or MTR-3T20 or MTR-3T40 series servo motors. 10 feet

GF-3090R Connecting FlashCable to Denver Instruments, Omega, Tohnichi.

IC200UDR001-24 Qty of 24, 14 point PLC, (8) 24VDC In, (6) Relay Out, 120V/240 AC Powe r Supply

IC646TPR915 ProServer 1,500 I/O Point Runtime System

IC647PATAXIM Proficy PAT - Axiom Multiplexer Interface: Provides The Capability To Control An Axiom Analytical Fmx Series Fiber-Optic Multiplexer

IC693ALG442RR Analog Combo Module, 4In/2Out

IC752ECD400RR Display Station 1462 - 14 inch VGA (640x480) resistive touch screen/ Penti um 133/ 32MB/ 1.2 Gig hard drive/ expansion slots/ Ethern et/ with CIMP LICITY HMI and Win 95

IFIXONNODE300M iFIX Upgrade to On-Node 300 Tag Standard Edition Historian with Alarm & Event Option, M4 Key

SLC/1746 System 1747-DCM DIRECT COMMUNICATION MODULE FOR PROGRAMMABLE CTRLR

Industrial Computers 6186-M20AL VERSAVIEW 20 INCH MONITOR, TEMPERED GLASS

Application-specific products 1404-M505A-CNT 1404 M5 CONTROLNET PM3000 120/240V P.S.

Operator Interface 2711-K10C1 PV1000 COLOR KEY, RIO & RS232 PRINT

Support 9301-2SE3100R SUPT REINSTATEMENT CONTRACT FOR 93012SE3100

Support 9380-RSBEDEQPS SUPT RENEWAL CONTRACT FOR 9380RSBEDEQP

DeviceNet Products 1738-ADN18 DEVICENET ADAPTER WITH MINI CONNECTORS

RSI Software Products 9301-2SE3203 RSVIEW32 RUNTIME 300 WITH RSLINX

RSI Software Products 9358-BPCNT60U2 UPGRADE: IN-SUPT: RSBATCH PC-BASED 10 TO 60

Motion Control MPL-B4520P-SJ24AA MOTOR,SERVO,6.1 NM,5000RPM,SINGL,460V,BRK,9.5KG

Motion Control 2090-SCVG150-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,150.0M

GFK-2251 Panel C Industrial Computer User's Manual

IC646MGRS10 Electronic Signature option for a 10 users Procify Change Management system.

MTR-1324-E-D-E-0 Stepping Motor Nema34, Series Wdg, Encoder

QPICTAE0000 10.4 inch Color TFT/ TCP/ Ethernet/ CF Card/ 110VAC

PXIe-5162

MM-5425/512

IOWA-8522

NORCO-690AE

P600VL-D73E

PCI-1724U

1492-PD3C287 760 A Power Distribution Block

中央處理單元 6ES7416-2XK04-0AB0 CPU416-2，2.8MB，40ns，電源 24VDC，MPI/PROFIBUS-DP 主站接口，PROFIBUS-DP 主站接口

變送器 3RS17062FD00

1495-N78 15 A Electrical Interlock Kit

1585J-M8TBJM-3 RJ45 Ethernet Media

1761-CBL-AP00 MicroLogix Cable

188-K3B160-N Miniature Circuit Breaker 16 A

194L-E16-1756 16 A 194L Load Switch

2090-CPBM4DF-16AF15 MP-Series 15m Length Cable

2090-XXNFMF-S15 Kinetix Drives 15m Standard Cable

BC647OEM0411B OEM Edge Renewal Add't Key - Historian

GC647PATBRK0 Proficy PAT - Driver For Bruker Ftir Spectrometers - Assist Support

IC200MDD844CA Conbal Coated MIX 24VDC OUT .5A/IN 16/16PT

IC646NRP000 Recipes

IC647MBEM MBE:Modicon Modbus Ethernet 7X

IC670TBM002 Aux. Terminal Strip, Qty. 2, Box Style

IC697MDL671RR Interrupt Input Module, 14 points

IC800SLR002 External regeneration resistor rated 100 ohm 225 Watt SL series and S2K series

ControlLogix/1756 System 1756-BATA REPLACEMENT BATTERY ASSEMBLY FOR 1756-BATM

Industrial Computers 6182H-15BRH15B VVCE 1500, KEY/TOUCH, STD MEM, CNET, AC

Process Control 1757-DNBEXP10 DEVICENET MODULE EXPANSION, 5-10 MAX

Operator Interface 2711P-ST6BM PV PLUS 600 GRAYSCALE, KEY/TOUCH STARTER KIT

Support 9326-AD10USS SUPT RENEWAL CONTRACT FOR 9326AD10USENE

Support 9371-EDES1R SUPT REINSTATEMENT CONTRACT FOR 9371EDES1

ControlNet Products 1734-TBSQ10 10 MODULES BASES W/ REMOVABLE IEC SPRING TERMINALS