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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。現(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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RSI Software Products 9301-2SE3400U2 RSVIEW RUNTIME 300 TO 32K UPGRADE:IN-SUPPORT

RSI Software Products 9515-RSEOL016ENE RSMACC CONDITION MONITOR, 16XM & 2 ENWATCH

Motion Control 1326AB-B515E-S2K5L MOTOR,SERVO,460V,10.4NM,3000RPM,SINGL,BRK,IP67

4161-3-24-.8 BCD To 7 SEG Display . 3 Digit, (.8") 24VDC. Dust Seal

HMI-CAB-A02-50X CABLE ADAPTER HAND HELD 50'

IC693CBL302 Cable, I/O Expansion, 15 Meters

QPM2D100L2P QUICKPANEL MINI MONO LCD

TGT-S000-1-0RR Target System Module

20BC8P7A0AYNACC0 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF030JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-D6P0N104 PowerFlex 40- 2.2 kW (3 HP) AC Drive

140ATI03000 Quantum TC 輸入, 8通道, 類型 J,K,E,T,S,R,B

284E-FVD6P0Z-25-RR-3-DB-SB EtherNet Variable Frequency Drive

E2E-X18ME1 18mm,非屏蔽電感式,三線,常開200mA NPN 電源:10-30VDC圓M30

1492-SPM1C070-N MCB Supplementary Protector 7 A

通用型變頻器 6SE6 420-2UD25-5CA1 "5.5 KW，185 x 245 x 195"

電機啟動器 3VU13401MH00

150-C108NBR SMC-3 108A Smart Motor Controller

1608P-025A400V4S 25 A Pro DySC Sag Corrector

1769-RD CompactLogix Replacement Door

190S-GNKD3-FC45S 32-45 A Compact Comb Starter W/Ckt-Bkr

194R-PY 194R 30-60 A Disconnect Switch Handle

2090-CPBM7DF-16AF40 MP-Series 40m Cable

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

CP2I-0WEB-0140-AZ Shielded motor power cable for B2HVis/B4HVis/A2HVis/A4HVis motors. 14 meters

GF-5650R Connecting FlashCable to Scherr Tumico DRO.

IC200UEC208 VersaMax Micro Expansion 8 point combination (4) 24VDC In, (4) Relay Output, 24VDC Power Supply (includes IC200CBL501).

IC647ABHC ABH:Allen Bradley Data Highway

IC647PATSIMC Proficy PAT - Simca Interface: Provides The Capability To Interface Proficy Rx To Umetrics Simca P And Qp Chemometrics Software

IC693CBK001 Cable Kit for High Density I/O Modules (includes CBL327 and CBL328)

IC754ABD001 QP View Card for Data Highway Plus

IMC-306X-X-D-MODRR IMC-D Sereis, Special Order MOD=INTERCONNECT

SLC/1746 System 1746-SIM SLC 500 16-POINT DC INPUT SIMULATOR

Industrial Computers 6189-KBPEPS1 PANELMOUNT KEYBOARD AND MOUSE STAINLESS STEEL

Application-specific products 1404-M605B-000 MASTER MODULE - PQ 24V POWER SUPPLY

Operator Interface 2711-K10C9L1 PV1000 COLOR KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3200ZHS SUPT RENEWAL CONTRACT FOR 93012SE3200ZH

Support 9380-RSBVB500R SUPT REINSTATEMENT CONTRACT FOR 9380RSBVB500

DeviceNet Products 1792D-8BVT8CD MAXUM 8IN/8OUT WITH POINT LEVEL DIAGNOSTICS

RSI Software Products 9301-2SE3300DEE RSVIEW32 RUNTIME 1500 (GERMAN)

RSI Software Products 9358-BV01ENE RSBIZWARE BATCH VIEW ADDITIONAL CLIENTS

Motion Control MPL-B4530K-RJ24AA MOTOR,SERVO,8.36 NM,4000RPM,RSLVR,460V,BRK,11KG

Motion Control 2090-SR040-18 40 OHM, 1800W

GQPH2D100S2P QUICKPANEL 6" STN HAND HELD GE LABEL

IC646MPSS99 Logic Developer - PLC Standard Unlimited Seat Site License

MTR-1350-N-D-E-0 Stepping Motor Nema34, Series Wdg

QPLCGAE0000 12.1 inch Color TFT/ GE Fanuc/ Ethernet CF CARD/ 110VAC

20BC043A0AYNAND0 PowerFlex 700 AC Drive 43 A at 22 kW 20B

20F11NC8P7JA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF018-BL PowerFlex EMC Filter

2711P-RL10C2 PanelView Plus Accessory

280S-PWRM35A-M4 ArmorStart Three-Phase Power Media

C200H-CN422 編程器連接電纜,4m

1492-PDL3194 335 A Power Distribution Block

模擬量輸入/輸出模塊 6ES7432-1HF00-0AB0 AO/8 13BIT，光隔離，U/I

變送器 3RS10101CK20

1497-B-BASX-0-N Control Circuit Transber

1585J-M8UBJM-5 RJ45 Ethernet Media

1761-L32AWA MicroLogix 1000 32 Point Controller

188-K3C030-N Miniature Circuit Breaker 3 A

194L-E25-2503 25 A 194L Load Switch

2090-CPBM6DF-16AA25 TL-Series 25m Power and Brake Cable