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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(zhǎng)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(dòng)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(dòng)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(jí)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(chǎng)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(dòng)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(dòng)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(dòng)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(duì)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(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對(duì)運(yùn)動(dòng)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(dòng)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(duì)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(dòng)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(duì)機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)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(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動(dòng)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(duì)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(hào)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(dòng)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(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外，程序的好壞直接決定著運(yùn)動(dòng)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(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)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(jiǎn)單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制，因此，PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì)，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(dòng)運(yùn)動(dòng)，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(dòng)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(dòng)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(dòng)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(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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C200H-DA003 模出單元,8路12位?D/A 1～5V 0～10V -10～+10V

1492-RCDA2B40 Residual Current Device 40 A

存儲(chǔ)卡 6ES7952-1KK00-0AA0 FEPROM 存儲(chǔ)卡， 1M

變送器 3RS11211DW20

1497-G-AXSX-0-N Control Circuit Transber

1606-XLB 1606 Power Supply

1762-OB16 MicroLogix 16 Point D/O Module

188-K3D030-N Miniature Circuit Breaker 3 A

194L-HC4L-175 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA25 MP-Series 25m Power and Brake Cable

2090-XXNPMF-10S40 MP-Series 40 m Length Cable

BC647TPD300 CIMPLICITY HMI ProServer 300 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE050 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 50 Users Ver 3.0

IC200MDL741CA OUT 24VDC POS .5A ESCP 16PT Conf Coat

IC646PDS100 OpenProcess Designer Development S/W

IC647MRA300 View Runtime 300 I/O with USB Hardware key

IC677DBM442 Profibus VersaMax IP Modular slave with (4) 24VDC bs and (4) 24VDC outputs (2 amp). Module requires IC677PBI001 master in network.

IC697PWR748RR Power Supply, 48 Vdc, 90 Watts

IC800SSI216RP2 16 amp 230 VAC Profibus S2K servo controller for MTR series motors

SLC/1746 System 1747-L524 SLC 5/02 CONTROLLER, 4K MEMORY - DH 485

Industrial Computers 6189-RW4 VVCE COMAPCT FLASH 512MB W/ME

Application-specific products 9358-PBA03ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 03 UNITS

Operator Interface 2711-B5A8L3 PV550 MONO KEY&TOUCH, DH+ & RS232 PRINT

Support 9303-3CS0EFFR SUPP REINSTATEMENT CNTRCT FOR 9303-3CS0EFF

Support 9391-SDVEKR 9391-SDVEK SOFTWARE SUPPORT CONTRACT REINSTATEMENT

ControlNet Products 2711-K5A15L1 PV550 MONOCHROME KEY, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9358-BEBNT10ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 10 UNITS

Motion Control MPL-A4540C-HJ24AA MOTOR,SERVO,10.2NM,1500RPM,ENCDR,230V,BRK,13KG(PIN

Motion Control 2090-XXNFMP-S12 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,12M

CBL-OIJR-06-RA Serial Cable, Operator Interface Panel (OIP) to S2K, Rt. Ang, 6 Ft.

IC641PCC006 Complete Development System - Unlimited Points

IC800SLT001 SL Amplifier Terminal Block for APM/DSM Interface

PPS-DEMO-01 Proficy Process Systems Demo Kit containing PACSystems RX3i Controller w ith 12-slot base, 24VDC Multipurpose Power Supply, 300Mhz CPU, Ethernet module, RX3i Profibus Master module, Analog Input HART module, 16 Point Input Simulator module and Unive

20B-STD-N PowerFlex 700 Standard Control Board Kit

20DD500A0ENNBNANE PowerFlex 700S AC Drive 500 A 450 Hp 20D

20SF1K0NES PowerFlex 1000 A SCR Bus Supply

2711P-B7C22A9P PanelView Plus 7 Graphic Terminal

280-PWRM35B-M6 ArmorStart Three-Phase Power Media

CPM1A-DA001 2 路模擬量輸出 分辨率1/4000 轉(zhuǎn)換速率2.5ms/CH 每個(gè)輸出通道可獨(dú)立設(shè)置量程 輸出：-10～10V 0～10V 0～5V 0～20mA 1～5V 4～20mA

1492-MR6X12 IEC 6 x 12 mm Marker Card

1494V-W1 Disconnect Swi tch Handle

軟啟動(dòng)器 3RW44666BC46

運(yùn)行版軟件 6AV2105-0DA04-0AA0 SIMATIC WinCC Runtime 專業(yè)版 512 PowerTags V14

1585J-M4TBJM-2X RJ45 Ethernet Media

1756-OC8 ControlLogix 8 Point D/O Module

188-K1C020 Miniature Circuit Breaker 2 A

194E-G3688 194E 34 mm Metal Load Switch Shaft

2090-CFBM7DF-CDAF90 MP-Series 90 m Length Feedback Cable

2090-UXBC-D1509 Kinetix 9 m Length Breakout Board Cable

BC646OEM0400 OEM Edge - Historian Kit (Approval Required)

GC647DMC200 GC DataMart 200 Reporting Clients

IC200ALG260LT ANALOG INPUT 12 BIT VOLTAGE/CURRENT 8CH (LT)

IC646IFCLNTCRO005M iFIX iClient Read Only 5 PK Keyless (M4 Part)

IC647IFPLSR00900M iFIX Plus SCADA 900 I/O Server (M4 Part)

IC660MLD110 Label for IC660BBD110 (Qty 100)

IC697BEM731 Series 90-70 Genius I/O Bus Controller

IC800AIHV180 Alpha SVM1-180HVi Alpha HVi-series 180 amp amplifier kit

ControlLogix/1756 System 1756-L55M12 LOGIX5555 PROCESSOR WITH 750KBYTE MEMORY

Industrial Computers 6182H-7BEH15D VVCE 700, KEY/TOUCH, EXT MEM, CNET, DC

Process Control 9324RSFBCU2 UPGRADE RSFIELDBUS CONFIG SW 256 TO 1024 FB

Operator Interface 2711P-B15C6B1 PV PLUS 1500, KEY/TOUCH, RIO/DH, AC PS, STD MEM

Support 9240-DNSDTS SUPT RENEWAL CONTRACT FOR 9240DNSDT

Support 6310-MSR 6310-MS SOFTWARE SUPPORT REINSTATEMENT

Support F1794-ACNR15SERA FIRMWARE UPGRADE FOR 1794-ACNR15 I/O MODULE

RSI Software Products 9301-2SE2350U2R UPGRADE: OUT-SUPT: RSVIEW32 WORKS 300 TO 5000

RSI Software Products 9351-DKTS INTERCHANGE FOR MSL-DOS

RSI Software Products 9399-WEGR RSEMULATE GETTING RESULTS GUIDE

Motion Control 8720MC-LR14-070B 14%,70AMP,460VAC LINE REACTOR

BC646MRD159 Logic PC Runtime (HRT) 1,500 I/O

IC300RCS086 8 DC Inputs (12/24vdc), 6 Relay Outputs (3.0A ea), 4 Analog Inputs (0-20mA, 0-5v, thermister), 2 Analog Outputs (0-20mA, 0-10v)

IC754VBL12CTD 12" TFT QuickPanel View, Loaded, 24VDC, Blank Label

MTR-3T55-I-R-0-M-0RR Servo Motor Metric

20AC8P7C3AYYANC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC030A3EYNANBNE PowerFlex 700S AC Drive 20D

20G1ANC205AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-E4P2N104 PowerFlex 525 2.2kW (3Hp) AC Drive

280-FAM22M ArmorConnect M22 Male Receptacle

FR-F740-3.7K 5.7 KVA 7.5A 3.7KW 3相AC380V/50Hz/60Hz

1492-LG3 IEC Term Blck 5.1x59.5x31.3mm Spr Clp

1494F-S2 Disconnect Switch Handle

軟啟動(dòng)器 3RW44362BC35

ET 200SP 6ES7131-6FD00-0BB1 DI 4x120..230VAC 標(biāo)準(zhǔn)型，基座單元類型 B1

1585D-E4UBDE-1 Micro D-Code, QD Style Ethernet Media

1753-L28BBBM GuardPLC 1600 Safety Controller

1794-ID2 Flex 2 Point Distributed I/O Comb Module

194E-AA40 194E Load switch

2080-LC30-16QVB Micro830 16 I/O Controller

2090-CSWM1DF-18AA02 Kinetix Cable Single DSL 2090-Series

20AC3P5A3AYNAEC1 PowerFlex 70 AC Drive 20A

GC646MPS101 Proficy GlobalCare Complete for Logic Developer - PLC Standard - w/Programming Cable

HE693RLY100 8 point unfused relay module for Series 90-30, rated to 8A, 2 NO/NC, 6 NO.

IC610CPU104RR Series One CPU, 700 Words, Expandable to 1.7K Words

IC647HSTSC500M Server to Server Collector for Historian - Standard Server 500 Points (M4 Key)

IC660BBD020 Block 24/48Vdc Source I/O 16 Circuits, 3 Wire Sensor Compatible

IC694MDL940CA Conbal Coated Relay Output module 2 amp, non isolated 16 points.

IC756WDN009E-26 DV Dev Sys VB, Java, C++, C, Eng v2.6

MicroLogix 1500/1769 System 1769-RD REPLACEMENT 1769 I/O TERMINAL DOORS

PLC-5/1771 System 1771-P5 POWER SUPPLY,SLOT,8A,24V DC

Distributed I/O 1798-IB4D FLEXARMOR 4 INPUT 24 VDC MODULE WITH DIAGNOSTICS