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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(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(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)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動(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(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控制接線簡單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對機(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，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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IC647ASP001 PA Esig Production

IC647PRTDB2M Proficy Portal DB2 Connector (M4 Key)

IC693CPU323LT 10-Slot Base With Turbo CPU in base (.6 msec) 12K bytes User Program (LT)

IC754VKI06STD Starter Kit/ 6 inch View STN Interm/ 24VDC

MSI-DASHBOARD-25-43 Dashboard Client 25 Pack Ver 4.3

SLC/1746 System 1746-RL43 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-IM16

Distributed I/O 1734-232ASC POINT I/O RS232 ASCII INTERFACE

Application-specific products 1803-SKCT20 PEMS STARTER KIT, 2000:5 CT'S

Operator Interface 2711E-ND1ES SPANISH PANELBUILDER 1400E WINDOWS CONFIG. SOFTWAR

Support 9302-DDER SUPT REINSTATEMENT CONTRACT FOR 9302DDE

Support 9381-PP5KENS SUPT RENEWAL CONTRACT FOR 9381PP5KEN

DeviceNet Products 1794-ADNK CONFORMALLY COATED, DEVICENET ADAPTER

RSI Software Products 9301-2SE3350JPE RSVIEW32 RUNTIME 5K (JAPANESE)

RSI Software Products 9307-8MGDBPENE RSEMETRIX MGR(0-8 METERS),W/1MSSQL PROCESSOR LIC

Motion Control MPL-B960C-MJ22AA MOTOR,SERVO,102.0NM,1500RPM,MULTI,460V

Silver Series 1398-DDM-020 DRIVE,20A PEAK, ULTRA 200

HE670ADC840 Field Control Analog Input Module, 8 Ch, 4 to 20ma, 400Vdc Channel to Channel Isolation, 1000Vdc Channel to Bus Isolation, 12Bits

IC646TPR075 Pro Server 75 I/O Point Run Time System

QM1204ROA QUICKMARQUEE 1 X 20 4.8" OR 2 X 40 2.1" RED

ST-3444 STXi analog b module 4 Channels, 0~10Vdc, 14-bit

20BC125A0AYNANA0 PowerFlex 700 AC Drive 20B

20F14NC456JN0NNNNN PowerFlex 753 AC Packaged Drive

22A-D1P4F104 PowerFlex 4 0.4 kW (0.5 Hp) AC Drive

140CPS42400 Quantum 電源, 48/60 VDC, 冗余, 8A

284D-FHD6P0B-25-CR-3-SB DeviceNet Variable Frequency Drive

CJ1W-OD211 16點(diǎn)晶體管輸出單元漏型

1492-RIFM40F-F24-2 Connection Products

WinCC 上位監(jiān)控軟件 6GK1713-5FB63-3AA0 FMS-5613 驅(qū)動(dòng)

變送器 3RS17022AD00

1497A-A13-M7-0-N Control Power Transber

1606-XLP50B Power Supply XLP 50 W Power Supply

1766-L32BXB MicroLogix 1400 32 Point Controller

188-K4C030 Miniature Circuit Breaker 3 A

194L-HE8N-175 194L Control and Load Switch Actuator

2090-CPBM7DF-10AA09 MP-Series 9m Standard Cable

2090-XXNPMP-10S12 MP-Series 12 m Length Power Cable

CBL-12-MP-10 Power cable for MTR-1216 or MTR-1221 or MTR-1231 stepping motors. 10 feet

GC647SPT001 GCScheduler Proficy Plant Apps Adapter

IC200PWR002 POWER SUPPLY WITH EXPANDED 3.3VDC 24VDC INPUT

IC646TBLH010 Proficy Troubleshooter for Inbligent Historian 10 Seats

IC647NETC NET:Netpac

IC690RBK001 Rechargable battery kit. Includes battery (IC690RBT001) and battery charger (IC690CRG001). The rechargable battery is compatible with PAC controllers, Series 90-30 and Series 90-70.

IC698CPE010 Do not quote. Product discontinued. RX7i 300mhz CPU with Ethernet 10/100

IC800VMACONMTRP VersaMotion amplifier motor power replacement connector (100 W to 1 kW models)

SLC/1746 System 1746-IH16 DC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-15BS2KH VERSAVIEW 15-INCH WORKSTATION, KEYPAD & TOUCH

Application-specific products 6556-MLCBKDC MICRO LOGIX C/B KIT DC

Operator Interface 2711-K5A8L3 PV550 MONOCHROME KEY, DH+ & RS232 PRINT

Support 9301-2SE2200FRR SUPT REINSTATEMENT CONTRACT FOR 93012SE2200FR

Support ABTS-W100R ABT-SW100 PATHFINDER SW SUPPORT REINSTATEMENT

ControlNet Products 9399-CNETGR RSNETWORX FOR CONTROLNET GETTING RESULTS GUIDE

RSI Software Products 9301-2SE250DEU5R RSVIEW32 WORKS 5K-100K UPGRADE OUT-SUPT (DE)

RSI Software Products 9358-BERP02U1R UPGRADE: OUT-SUPT: RSBW BATCH ERP 1 TO 3 SERVER

Motion Control MPL-A560F-MJ22AA MOTOR,SERVO,26.8NM,3000RPM,MULTI,230V

Motion Control 2090-XXNPMP-16S09 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,16 GAUGE,9M

GC646MRC000 Proficy GlobalCare Complete for Logic PC & View Runtime 8,000 I/O""

IC641SWP057 Toolkit for DEC Alpha/VMS C Applications

IC800STI105S1 5 Amp S2K Series Stepper Amplifier/Controller, 115 VAC

PSPC-DC10/E Prof Shop Floor SPC DC 10 User w/ eSig

20BB2P2A0AYNBNC0 PowerFlex 700 AC Drive 20B

20DJ096A0ENNANANE PowerFlex 700S AC Drive 96 A 75 Hp 20D

2198-H015-ERS2 Kinetix 5500 12.5 Amp Servo Drive

2711P-K6M5D8 PanelView Plus 6 6 Gray Key DC RS232

280-PWRM35E-M4 ArmorStart Three-Phase Power Media

CP1W-ME05M 內(nèi)存盒

1492-MS8X12H11-20 Connection Products

光電隔離，40pin 前連接器"

行程開關(guān) 3SE53220SB22

運(yùn)行版軟件 6AV2105-3FF04-0AE0 SIMATIC WinCC Runtime 專業(yè)版 2048 PowerTags V14 Upgrade V11..V13 -> V14

1585J-M8CBJM-2 RJ45 Ethernet Media

1756-PH75 ControlLogix 125V DC Power Supply

188-K1D060-N 6 A Miniature Circuit Breaker

194E-Y25-1753-6G 25 A 194E Load switch

2090-CFBM7E7-CDAF09 MP-Series 9 m Length Feedback Cable

2090-UXNFBY-S02 Y-Series 2 m Length Feedback Cable

BC646TPR075 ProServer 75 I/O Runtime Sys with Proficy GlobalCare

GC647IFGLBLENBLRM iFIX WebSpace Server Enabler including 2 WebSpace Clients(GC Complete)

IC200CBL230 Cable I/O non-shielded 1 connectors 3.0M for connector-style carrier

IC646MPHS01 Logic Developer PDA Site Lisc Seat - 1 seat

IC647IFPRSR00300C iFIX Profsnl SCADA 300 I/O Server (M1Component Part)

IC660TBR111 Terminal Assembly for IC660BBR101, NO UL approval.

IC697CMM798RR Replacement Part, MAP 30 Controller, Broadband

IC800MCUB12310XD 175 oz-in NEMA 23 stepping Motorcube with Devicenet interface

ControlLogix/1756 System 1756-IV32 10-30 VDC SOURCING INPUT 32 PTS (36 PIN)

Industrial Computers 6182H-10BEH6D VVCE 1000, KEY/TOUCH, EXT MEM, RIO/DH, DC

Process Control 9358-PBPC30ENE RSBIZWARE BATCH FOR PLX PC BASED PHASE 30 UNITS

Operator Interface 2711P-RAT7 PVP700/VVCE700 TOUCH TO PV900 TOUCH ADAPTER

Support 9352-WSD100S SUPT RENEWAL CONTRACT FOR 9352WSD100

Support 9351-HPUSRTR SUPT REINSTATEMENT CONTRACT FOR 9351HPUSRT

ControlNet Products 1786-FS200 200 MICRON CABLE ASSEMBLY 200 METERS (656.2 FT)

RSI Software Products 9301-2SE2400 RSVIEW32 WORKS

RSI Software Products 9355-WABGWESE RSLINX GATEWAY - SPANISH

Motion Control MPL-A310P-MK24AA MOTOR,SERVO,1.58 NM,5000RPM,MULTI,230V,BRK,4.2KG