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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(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、遠程I/O等與上位機算機進行連接，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)標準，使用導(dǎo)軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標準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準，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(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，而電路設(shè)計以及編程相當復(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(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(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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193-KA40 0.25-.40 A IEC Bibllic Overload Relay

198-MR6 IEC MANUAL Enclosure Accessory

2090-CFBM7DD-CEAF60 60 m Length SpeedTec Flexible Cable

2090-XXNFMF-S20 Kinetix Drives 20m Standard Cable

DNR120AS12-I 12V, 10A POWER SUPPLY

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IC200UDD110-24 Qty of 24, 28 point PLC, (16) 24VDC In, (12) 24VDC Out (6) 1.0A, (6) 0 .5A, 24VDC Power Supply. Battery (IC200ACC403) is required for data r etention.

IC610MDL176RR 115/230Vac Isolated Output Module (4 points)

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IC660BBD110RR 115Vac Input Block, 16 Circuit, Ph B

IC695ACC600 RX3i Cold Junction Compensation Kit \ for Universal Analog Input IC695ALG600

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IC200UEX210 28 point expansion. (16) 120VAC In, (12) 120VAC Out, 120/240VAC Power Supply. (Includes IC200CBL501)

IC752CKT014 DATAPANEL 150 STARTER KIT

MTR-3N31-H-R-0-N-SRR Servo Motor Nema34 with Seal

ZA06B-0153-B075#7008 A30/3000 servo motor with 64k serial encoder

20BD8P0A0AYNAND0 PowerFlex 700 AC Drive 8 A 5 Hp 20B

20G14NC260JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-V4P8 PowerFlex 520 0.75kW (1Hp) Power Module

OFSCSPEST Quantum 10 LIC. OFS SMALL Expired Subbion

FVR 1. 5E11S-7JE 3. 0KVA 8.0A 1.5KW 單相AC220V/50Hz/60Hz

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1784-CP7 PLC-5 Communication Adaptor

193-KB63 4.5-6.3 A IEC Bibllic Overload Relay

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IC647TIAC TIA:Texas Instrument Unib PC Adapter

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1771-IV Driver Logic Input Module

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198-W112 ModCenter IEC Wiring Kit

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2094-BL25S Kinetix Line Interface Module

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GFK-0771 C Programmer's Toolkit for Series 90 PCMs User's Manual

IC210CBL001 Programming Cable, PC to Durus Controller

IC647ASC002 PA SDK 2 Pak

IC647PPSOC5 Proficy Process Systems Operator Console with CIMPLICITY - 5 Pak

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Operator Interface 2711P-RAK15 PVP1500/VVCE1500 KEY/COMBO TO PV1400E KEY ADAPTER

Support 9352-WM9300S SUPT RENEWAL CONTRACT FOR 9352WM9300

Support 9330-RSRRTENS SUPT RENEWAL CONTRACT FOR 9330RSRRTEN

ControlNet Products 1786-TNCLP4 CONTROLNET TNC COAXIAL CONN - PLUG TO PLUG

RSI Software Products 9301-2SE235JPU3R RSVIEW32 WORKS 1500-5K UPGRADE OUT-SUPT (JP)

RSI Software Products 9355-WABDEE RSLINX PRO - GERMAN

Motion Control MPL-A310F-SK22AA MOTOR,SERVO,1.58NM,3000RPM,SINGLE,230V,3.1KG

Motion Control 2090-DANFCT-S03 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 03M

BC647MBT001 Machine Edition Traditional Development Suite with Proficy GlobalCare Complete and a hardware key

IC5002TAN0000 12" Inbligence Industrial PC, Standard Series WinNT

IC800CBL064 Use IC800CBL067 for New Applications: B0.5/3000 Motor Power Cable, 14 Meters

OC647APS30100 CSense Predictive Soft Sensor 100 KPI's

20AD014A3AYYADC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC105A0EYNANANE PowerFlex 700S AC Drive 20D

20G1AND361AN0NNNNN PowerFlex 755 AC Packaged Drive

25C-D017N114 PowerFlex 527 7.5kW (10Hp) AC Drive

280-MTRF22-M4 ArmorConnect Motor Flex Cable

FX1S-20MR-001 主機12點入/8點出 繼電器輸出

1492-M5X10H61-70 Connection Products

1494H-BN3H2 Heavy Duty Fusible Safety Discon Switch

軟啟動器 3RW44446BC35

ET 200SP 6ES7 134-6PA20-0BD0 AI 電能測量，480VAC，標準型，基座單元類型 D0

1585D-M4TBDM-10 Micro D-Code, QD Style Ethernet Media

1756-CNBRK ControlLogix Communication Module

1794-OA16 Flex 16 Point Digital Output Module

194E-CA32E-P11-PE 194E Load switch

2080-USBADAPTER Micro810 USB Adapter

2090-DANBT-18S02 TL-Series 2 m Length Brake Cable

20AC5P0A3AYYNCC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MSS005 Proficy GlobalCare Complete for Logic Developer - State Standard - 5 Pack

HE693THM166 16 ch. J, K, N, T, E, R, S, B, C 0.5 degC resolution, C/F units, 16 a larms

IC630CPU301RR CPU/Programmer Unit, 4K Words

IC647HSTSS30KM Historian Standard Server 30000 Points (M4 Key)

IC660BLA020 Cover w/Label for IC660BBA020

IC695ALG608RS Refurbished Analog Input module, 8 channels single ended, 4 channels differential, channels are configurable for voltage and current. Can be configured for Current: 0 to 20mA, 4 to 20mA, +/- 20mA; Voltage: +/- 10V, 0 to 10V, +/- 5V, 0 to 5V, 1 to 5V

IC756WDV009E-22 DV Development Sys Visual Basic, English, Version 2.2

CompactLogix System 1769-IF8 8 CHANNEL ANALOG VOLTAGE/CURRENT INPUT MODULE

PLC-5/1771 System 9399-FW5DDGRDE RSLGIX FRAM'WK DIAG.DEVEL.GET'G RESULTS GUIDE(GERM

Distributed I/O 1799-DSSCON D-SUB(50) I/O MATING CONNECTOR (SOLDER)

Operator Interface 2711P-T6C3A PV PLUS 600 COLOR, TOUCH, DH485, AC PS

Support 9341-L5200S SUPT RENEWAL CONTRACT FOR 9341L5200

Support 9358-PBPC03R SUPT REINSTATEMENT CONTRACT FOR 9358PBPC03ENE

Support F1779-KFMRSERB FIRMWARE UPGRADE FOR 1779-KFMR COMMUNICATION MODUL

RSI Software Products 9301-2SE2103 RSVIEW32 WORKS 150 WITH RSLINX

RSI Software Products 9701-VWMR075AJPE RSV ME STATION RT 75 DISP -WINDOWS 2000 (JAPANESE)

RSI Software Products 9363-SNAPSHOT RSSNAPSHOT SOFTWARE

Motion Control 2098-DSD-075 DRIVE, 35/75A, ULTRA3000

A99L-0035-0001 Cable Grounding Clamp

IC200UEX636-24 Qty of 24, 6 channel Analog expansion. (4) Analog bs & (2) Analog outputs. 120/240

IC752DEM004 New DataPanel Demo consists of DataPanel 55 and DataPanel 160, DataDesigner and accessories.

MTR-3S23-G-R-0-N-S MTR series servo motor with resolver and shaft seal

ZA06B-0266-B200 Alpha 22/4000HVis servo motor with straight shaft and key

20BE011A0AYNANC0 PowerFlex 700 AC Drive 11 A at 10 Hp 20B

20G14ND156AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM2-D2P3 PowerFlex 520 0.75kW (1Hp) Power Module

140SDO95300S Quantum 安全型開關(guān)量輸出模板

FRN2.2G11S-4CX 4.2KVA 5.5A 2.2 KW 3相AC380V/50Hz/60Hz

1492-J4TW TERMINAL BLOCK