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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(gè)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(gè)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(gè)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(gè)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(gè)轉(zhuǎn)向伺服電機(jī)，從而控制4個(gè)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(gè)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(gè)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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194E-FA80 194E Load switch

2090-CFBM7DF-CDAF04 MP-Series 4m Feedback Cable

2090-U5EK-DN Ultra 5000 Breakout Board Kit

BC646MVD000 ME View View OPC Driver License w/Global Care and Software Key

GC647AUR002 GC Universal Reporting Client 2 Pak

IC200ACC403 Battery for 23 and 28 point Micro for data retention

IC646CSPR001 Proficy Cause+ for Inbligent HMI/SCADA Runtime Server - 1X monitored KPI

IC647IFPLRNUNLMTM iFIX Plus SCADA Unlimited Runtime (M4 Part)

IC660MLA101 Label for IC660BBA101 (Qty 100)

IC697ALG440RR Analog Input Expander, Current, 16 Channels

IC758WMM010 iGlobalCare Complete 6-10 Users (same site): DataViews for Windows

FlexLogix System 1794-CE1 EXTENDER CABLE FOR TERMINAL BASES, 1FT/.3M

GuardPLC Systems 1755-OF8 GUARDPLC 2000 - ANALOG OUTPUT MODULE

Process Control 1757-UPGSIFW UPGRADE MA500 QUICKBUILDER I/F

Operator Interface 2711P-T12C6B1 PV PLUS 1250, TOUCH, RIO/DH, AC PS, STD MEM

Support 9220-TAS SUPT RENEWAL CONTRACT FOR 9220TA

Support 2755-ASNR SUPT REINSTATEMENT CONTRACT FOR 2755ASN

Support F1785-V30BSERC FIRMWARE UPGRADE FOR 1785-V30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350JPU3 RSVIEW32 WORKS 1500-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9701-VWSTJPE RSVIEW STUDIO FOR RSVIEW ENTERPRISE (JAPANESE)

RSI Software Products 9399-WABCPG RSLINX C SDK PROGRAMMER'S GUIDE

Motion Control 8720MC- -HAS1 ANALOG DIAL HIM

BC646MRB159 Logic PC Runtime 1,500 I/O

IC300OSW003 Cscape PDA Software with Palm III Series Cable

IC754ACC12MNT Mounting Clips (10) & PWR Conn, 12 QuickPanel View & Control"

MTR-3T45-H-R-B-M-0RR Servo Motor Metric 24V Brake

20AC8P7A3AYNAEG0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC022A0EYNANANK PowerFlex 700S AC Drive 20D

20G1ALF460AN2NNNNN PowerFlex 755 AC Packaged Drive

25B-D2P3N114 PowerFlex 525 0.75kW (1Hp) AC Drive

2715-T10CD PanelView 5500 10.4 in. Graphic Terminal

FR-A740-5.5K 9.1 KVA 12A 5.5KW

1492-LD4DF IEC Term Blck 6.1x76x52.2mm Spr Clp

1494F-L1 Door Hardware Kit

軟啟動器 3RW44352BC44

ET 200SP 6ES7193-6AG00-0AA0 BA 2× LC 玻璃光纖，光纖最遠(yuǎn)距離 2 KM

1585D-D4UBJM-2 Micro D-Code, QD Style Ethernet Media

1747-SDN SLC DeviceNet Scanner Module

1794-CJC2 Flex I/O Accessories

194E-AA20-P11 194E Load switch

2080-LC10-12AWA Micro810 12 I/O Smart Relay Controller

2090-CSWM1DF-14AA15 Kinetix 15m Smartb Single Cable

20AC2P1C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MPM001 Proficy GlobalCare Complete for Logic Developer - PLC Nano/Micro

HE693OIU177 Compact VF OIU powered by 24VDC with Numeric Keypad

IC609SJR121RR Series One Junior 24Vdc Src In/Rly Out, 115Vac Power

IC647HSTSC15KM Server to Server Collector for Historian - Standard Server 15000 Points (M4 Key)

IC660BBA026RR Curr Src Analog Input Block, 24/48Vdc Power, 6 Inputs, Ph B

IC694MDL741CA Conbal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756WDJ009E-23 DV Development Sys VB and Java, English, Version 2.3

MicroLogix 1500/1769 System 1769-ECR RIGHT END CAP/TERMINATOR

PLC-5/1771 System 1771-CE 1771 I/O CHASSIS CABLE FOR 1771-P2 POWER SUPPLY

Distributed I/O 1797-IJ2 2-CHANNEL EX HIGH RESOLUTION FREQUENCY MODULE

Operator Interface 2711P-B6C1D PV PLUS 600 COLOR, KEY/TOUCH, SRIO, DC PS

Support 9323-PA1GR SUPT REINSTATEMENT CONTRACT FOR 9323PA1G

Support 9358-HSTS2400S SUPT RENEWAL CONTRACT FOR 9358HSTS2400

Support F1772-LWSERD FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD3U7ENE RSLOGIX 5000, STANDARD TO PRO UPGRADE, ENGLISH

RSI Software Products 9305-RSVADDCDEE RSVIEW32 ACTIVE DISPLAY DEDICATED CLIENT (GERMAN)

RSI Software Products 9358-PMSEE NET PROCESS MONITOR

Motion Control 2092-DA2 DRIVE, 2.4A/7.2A, ULTRA1500 DIGITAL SERVO DRIVE

A06B-0141-B075#7008 AC12/2000 Servo Motor, 32K Serial Encoder

IC200UAR028-24 Qty of 24, 28 point PLC< (16) 120VAC In, (12) Relay Out (2 at 10 amp & 10 at 2 amp), 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752BTS450RR Display Station 1085 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-1362-N-A-E-0RR Stepping Motor Nema34

ZA06B-0113-B175#7008 B0.5/3000 servo motor with brake and 32k serial encoder

20BD3P4A0NYNANC0 PowerFlex 700 AC Drive 3.4 A at 2 Hp 20B

20G11TD430AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-B017 PowerFlex 520 4kW (5Hp) Power Module

編程軟件

FRN 3. 7E1S-4C 6. 8KVA 9.0A 3.7KW 3相AC380V/50Hz/60Hz

AB 77157-739 ;77157-739-51;T1MZ5502;4000917444

1492-SPM3C320-N MCB Supplementary Protector 32 A

軟啟動器 3RW40462BB14

熱電偶模擬量輸入信號板 6ES7 231-5QA30-0XB0 SB 1231 AI 1 x 16 位 熱電偶

150-SC2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 260A

1734-TOP3S POINT I/O Terminal Base

1783-SFP100LX 100LX SFP Fiber Transceiver

193-ESM-VIG-30A-CT E300/E200 30 Amp Sensing Module

20-750-I2B-C770D740 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA12 MP-Series 12m Servo Power Cable

2099-BM11-S Kinetix 7000 Servo Drive

GA647IFESGCLNTS GCA iFIX Optn: ESig & ERec iClientTS

GP-2102NT/OBG GagePort Digital NT 2-port b (Owens Brockway OEM)

IC5007TAX0110 PanelPC 17 inch Standard Unit with Windows XP and Stainless Steel Bezel

IC647HSTCC10000KM Calculation Collector for Historian - Standard Server 10,000,000 Points (M4 Key)

IC647SST001 Scheduler SAP Toolkit

IC693MDL742LT 12/24 Vdc Output, 1 Amp, Positive Logic (16 Points), Fused (LT)

IC756LDV000E-97 DV Development - Inb/Linux RedHat Op Sys, English, Version 9.7

Pico Controllers 1760-IB12XOB8 18 I/O EXPANSION MODULE, DC