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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(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(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(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?qū)/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(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，而電路設計以及編程相當復雜，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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GFK-2205 Programming Manual for Target ARS and IMC-D Series Controllers

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Communications 1770-CG RS-232C INTERFACE CABLE

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IC200UDR064 VersaMax Micro 64 point PLC,(40) 24VDC In, (24) Relay Out, 24VDC Power Supply. (1) serial port and (1)optional communication port.

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22-JBAA PowerFlex 4 Conversion Kit

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280S-PWRM22C-M3 ArmorConnect 3-PH Power Media drop cable

C200HW-CE001 C200HW controller b 連接器

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GC647PATMODB Proficy PAT - Modbus Slave Interface: Provides The Capability To Interact With Other Systems Via The Modbus Protocol - Assist Suppor

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IC647MDA300 View Development/Runtime 300 I/O with USB Hardware key

IC675PTR001 Profibus Terminator

IC697MEM713 Expansion RAM, 64K Bytes, CMOS (Used w/77X CPUs and PCM)

IC800SSD216RS1 16 amp 230 VAC S2K servo drive for MTR series motors

ControlLogix/1756 System D1756-UM002AUSP CONTROL LOGIX PROGRAMMABLE LIMIT SWITCH MODULE UM

Industrial Computers 6182H-15KRH15B VVCE 1500, KEYPAD, STD MEM, CNET, AC

Process Control 1757-DNBUL100 DEVICENET USAGE LICENSE, 100 DNB MAX

Operator Interface 2711-M3A18L1 PV300MICRO MONOCHROME, DF1

Support 9326-AD25USS SUPT RENEWAL CONTRACT FOR 9326AD25USENE

Support 9371-EDETIACR SUPT REINSTATEMENT CONTRACT FOR 9371EDETIAC

ControlNet Products 1797-RPA CONTROLNET EX MODULAR REPEATER ADAPTER

RSI Software Products 9301-2SE240PTU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (PT)

RSI Software Products 9358-BA30U2R UPGRADE: OUT-SUPT: RSBIZWARE ARCHIVER 10 TO 30

Motion Control MPL-A4520K-SJ24AA MOTOR,SERVO,6.10 NM,4000RPM,SINGL,230V,BRK,9.5KG

Motion Control 2090-UXNPAMP-8S09 CABLE, 230V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,9M

CBL-30-BT-10 Brake Cable, MTR-3S & MTR-3T Series Servo Motors with Brake, 10 Ft.

IC640HWP310 Series 90 Workstation Intf. (XT/AT) w/LM 90-30/20 Serial

IC800SLCPVL100 Power Cable, 3500W and 5000W SL Servo Motor, 10 Meters

OC647IFXPESPC-50 iFIX for Embedded XP SPC Blocks Option V5.0

20AD8P0A0AYNANC0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A

20DD034A0EYNANANE PowerFlex 700S AC Drive 20D

20P41AD027RA0NNN PowerFlex 460V AC 15 HP DC Drive

2711C-T6M PanelView Comp C600 Graphic Terminal

280-PWRM24E-M24 ArmorStart Three-Phase Power Media

NT631C-ST152B-EV2 彩色TFT LCD分辨率：640×480點, 8色 10.4英寸.

1492-MCBA2H60 60 A UL489 Miniature Circuit Breaker

1494V-DJ644-A-B-D1-E-F NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動器 3RW44576BC44

運行版軟件 6AV2103-4BD04-0AE5 SIMATIC WinCC V7.0..V7.3 RC 128 ->WinCC 專業(yè)版 512 PowerTags V14 Combo 和 WinCC RT 專業(yè)版 128 PowerTags

1585D-M8UGDM-3 Gigabit Ethernet Media

1756-L73XT ControlLogix 8MB Controller L7XT

1799-DNC5MMS DeviceNet I/O Accessories

194E-FA20E-PE-TN 194E Load switch

2090-CFBM7DD-CEAA12 MP-Series 12m Servo Feedback Cable

2090-SCVP3-0 Kinetix 3-3m Fiber Optic Cable

BC646MPS001 Logic Developer PLC Standard with Proficy GlobalCare Complete

GC647AQC002 GC Quality Client 2 Pak

HMI-CLP-200 MOUNTING CLAMP FOR QP2 QP3 QP4 & CEIIx - 1 Set of 4 Clips

IC641VPS305 VersaPro Standard Edition 5 Pack - Windows Programming Software for Se ries 90-30 and VersaMax PLCs

IC647IFPLDV00075M iFIX Plus SCADA 75 I/O Development (M4 Part)

IC660ELB904RR GENIUS Network Adaptor

IC697ACC727 Top and Bottom PWA Cover - GBC (Quantity 2)

IC756WRJ049J-27 Runtime License Windows 25-49 Users Japanese v2.7

FlexLogix System 1794-OF4I ISOLATED ANALOG OUTPUT MODULE, 16 BIT, 4 POINT

PLC-5/1771 System D6200-6.4.6RU PLC5 PROG. SW CONFIG.& MAINTENANCE MNL (RUSSIAN)

Process Control 1757-UPGNG PLX SERVER BATCH REPORT UPGRADE

Operator Interface 2711P-B12C4B1 PV PLUS 1250, KEY/TOUCH, ENET, AC PS, STD MEM

Support 6001-F2ES SUPT RENEWAL CONTRACT FOR 6001F2E

Support 2711-ND2DES SUPT RENEWAL CONTRACT FOR 2711ND2DE

Support F1785-L60CSERD FIRMWARE UPGRADE FOR 1785-L60C PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230JPU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (JP)

RSI Software Products 9701-VWSS025LENE RSVIEW SE SERVER 25 W/RSLINX ENTERPRISE

RSI Software Products 9399-RSRGR RSRULES GETTING STARTED GUIDE

Motion Control 1394C-SJT22-C MODULE,SYSTEM,22KW,IMCS,NO RIO,NO AXIS,LI

BC646MPP005 Logic Developer - PLC Standard Bundled 1 Year SAFE - 5 Pack

IC300OCS072 OCS with 2x20 LCD Display and with 16-key keypad. Built in I/O no expansion. 16 DC Inputs (12/24vdc), 12 DC Outputs (5/12/24vdc, 0.5A neg. logic with ESCP). With CAN network interface

IC752WFC575 CONTROLSTATION DS2050 15" 566MHz/128MB RAM WNT

MTR-3T23-G-R-B-M-SRR Servo Motor Metric 24V Brake, Seal

ZA66L-6001-0023#L300R0 A22/3000HVi & A12/4000HVis & A22/4000HVis, Fiber Optic Command Cable, 30 CM

20D-PUB-IN1-EN PF700S,F0-6 INSTALLATION PUB KIT,ENGLISH

20G1AJD545AN4NNNNN PowerFlex 755 AC Packaged Drive

25B-A8P0N114 PowerFlex 525 1.5kW (2Hp) AC Drive