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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。機器人技術作為20世紀人類最偉大的發(fā)明之一，自20世紀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)自動化的關鍵技術和重要產(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、遠程I/O等與上位機算機進行連接，來構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)標準，使用導軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標準的電器元器件可方便地卡在導軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導軌寬度是3.5CM?，F(xiàn)如今，很多的電器元器件都有采用這種標準，比如有PLC、斷路器、開關、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，往往需要外圍設備的配合，比如工裝夾具、傳送帶、焊接變位機、移動導軌等等，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、噴涂設備、裝配設備等等。

　　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)機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數(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)可以使得設備驅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)硬件進行選型以后，根據(jù)移動機器人的硬件組成進行電氣系統(tǒng)設計。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。當線圈通電的時候，其對應的常開觸點閉合，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)的工程配置模塊進行可視化配置，以適應不同機器人應用程序對I/O設備的不同需求。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個轉向伺服電機，從而控制4個車輪的轉向角；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構實現(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運動控制器能夠實現(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，而電路設計以及編程相當復雜，因此，PLC的控制接線完善和技術創(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)機器人主要是各關節(jié)的驅動運動，不單單是實現(xiàn)PTP、CP的控制，還要達到在多軸協(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，但遠遠不及MITSUBISHI PLC，因為MITSUBISHI PLC結合物聯(lián)網(wǎng)及高科技術，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。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業(yè)機器人的要求。
 

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2090-CPBM7DF-10AF60 MP-Series 60 m Length Cable

2090-XXNPMP-14S40 MP-Series 40 m Length Power Cable

CBL-14-ET-30 Encoder cable for MTR-1300 or MTR-1N series splashproof stepping motor. 30 feet

GF-0188S-15 Connecting FlashCable to Federal Micro Maxum Indicator, 15 ft.

IC200TBX020 Tool box, Micro 20 and software. Includes (IC200UDD020) 24VDC In/24VDC Out, requires 24VDC power, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with Proficy software, manuals and cables (IC646MPM101)

IC646TBPAS025 Production Accounting Server 25 mass balance streams

IC647NMM000 CIMPLICITY Marquee Manager - supports up to 5 Marquees. Add multiple packs to increase device counts.

IC693ACC312 Extended battery (1.45 Amp-hours) for Series 90-30 CPU memory backup. The Battery Module replaces the standard CPU RAM backup battery in your control system. Approximaby 20% more capacity than the IC693ACC301. Qty of 2 batteries.

IC750LCD440RR PANELWARE 4-Line x 40-Character LCD Dislplay

IC800VMCE030 Encoder cable for 100 W to 750 W VersaMotion servo motors- 3 meter

SLC/1746 System 1746-OB32E ELECTRONICALLY PROTECTED DC OUTPUT MODULE

Industrial Computers 6155R-NPXPH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBM44 SLC 5/04, 5/04 PROGRAMMABLE PRESS CONTROL KIT

Operator Interface 2711-B6C12 PV600 COLOR KEY&TOUCH, PBUS & RS232 PRINT

Support 9301-2SE2300JPR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300JP

Support 9307-8MGDBPS SUPT RENEWAL CONTRACT FOR 93078MGDBPENE

DeviceNet Products 1734D-IA16S 120 VAC 16 IN, DNET COMMS, SPRING

RSI Software Products 9301-2SE250JPU5R RSVIEW32 WORKS 5K-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BNT30ENE RSBATCH 30 UNITS

Motion Control MPL-B320P-RJ22AA MOTOR,SERVO,2.94 NM,5000RPM,RSLVR,460V,4.6KG

Motion Control 2090-K6CK-D15F CONNECTOR, AUX FDBK, D-SHELL/TERM BLOCK, 15 PIN F

GFK-0483 Series 90 Universal Simulator User's Manual

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

MSC-FRQ-C Obsolete - 1KHz in / 4-20 mA out

PSPC-DC25/EL Prof Shop Floor SPC DC 25 User w/ eSig

20BC011A3AYNANC1 PowerFlex 700 AC Drive 20B

20DN104A0ENNANANE PowerFlex 700S AC Drive 20D

2198-H070-DP-T K5500 FR3 DC,control conn.

2711P-RAK7 PanelView Plus Accessory

280-PWRM35G-M35 ArmorConnect 3-PH Power Media trnk cable

CQM1-PA206 電源. 100 - 240V AC. 提供24V DC 0.5A

1492-N14 TERM BLCK Jumper 2 Pole

通訊處理器CP 6ES7 870-1AA01-0YA0 ModbusRTU 主站，包含軟件和單授權

行程開關 3SE53221SD21

TIA 博途 WinCC 選件 6AV2107-0KB00-0BB0 SIMATIC WinCC WebNavigator for Runtime Professional 1 Clients

1585J-M8HBJM-0M6 RJ45 Ethernet Media

1756-TBSH ControlLogix 20 Pin Spring TRM Block

188-K1D630 Miniature Circuit Breaker 63 A

194E-Y63-1753-6G 63 A 194E Load switch

2090-CHBIFS8-12AA05 Kinetix 6000M IPIM Hybrid Cable

2090-UXNPBMP-10S30 MP-Series 30 m Length Power Cable

BC647MBS001 Machine Edition Standard Development Suite with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDV00300 GCC iFIX Profsnl SCADA 300 I/O Dev

IC200CHS002CA I/O CARRIER BOX STYLE - CONF COAT

IC646MQP001 Machine Edition View for Quick Panel 1 user

IC647IFSTDV00150K iFIX Standard HMI 150 I/O Development (M1 Kit Part)

IC670ALG320RR Analog Output Current/Voltage 4 pt. Grouped

IC697CPU789 GMR Redundancy,CPU, 386, 2K Triplex (voted) I/O

IC800S2KRDEM1 S2K resolver-based case demo with 4.3 amp Devicenet controller and Motorcube

ControlLogix/1756 System 1756-IF16 ANALOG INPUT - CURRENT/VOLTAGE 16 PTS (36 PIN)

Industrial Computers 6182H-10TEH15B VVCE 1000, TOUCH, EXT MEM, CNET, AC

Process Control 1757-FIMUL020 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDK15C PV PLUS 1500, KEYPAD DISPLAY MODULE

Support 9355-WABENS SUPT RENEWAL CONTRACT FOR 9355WABEN