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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。但隨著機器人技術的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內容越來越豐富，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)自動化的關鍵技術和重要產(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、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。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)可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數(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對I/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個轉向伺服電機，從而控制4個車輪的轉向角；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構實現(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運動控制器能夠實現(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)機器人主要是各關節(jié)的驅動運動，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結合物聯(lián)網(wǎng)及高科技術，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。
 

IC200UDR440 VersaMax Micro 40 point PLC,(24) 24VDC In, (16) Relay Out, 12/24VDC Power Supply. (1) serial port and (1)optional communication port. Requires Machine Edition 5.7 or higher. Battery (IC200ACC414) is required for data retention. Battery not inclu

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IC756LDV010J-97 DV Draw Development on Inb/Linux RedHat Op Sys, Japanese, Version 9. 7

IC800SKCBV100 Power/brake cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor connected to an S2K. 10 meters

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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

IC200ALG261 Analog b 15 bit differential voltage 8 channel

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IC800APK080 SVU1-80 Alpha series 80 amp amplifier kit

ControlLogix/1756 System 1756-L55M13 LOGIX5555 PROCESSOR WITH 1.5MBYTE MEMORY

Industrial Computers 6182H-7BEH4B VVCE 700, KEY/TOUCH, EXT MEM, ENET, AC

Process Control 9358-BHIST01ENE RSBIZWARE BATCHHISTORIAN - 3 UNITS

Operator Interface 2711P-B15C6B2 PV PLUS 1500, KEY/TOUCH, RIO/DH, AC PS, EXT MEM

Support 9240-MON16R SUPT REINSTATEMENT CONTRACT FOR 9240MON16

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IC754VKB06MTD Starter Kit - 6" Monochrome QuickPanel View Basic, Touch, 24VDC

MTR-3T55-I-R-B-M-0RR Servo Motor Metric 24V Brake

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1494F-V1 Combination Starter Door Hardware

軟啟動器 3RW44362BC45

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1585D-E4UBDE-10 Micro D-Code, QD Style Ethernet Media

1753-L28BBBP GuardPLC 1600 Safety Controller

1794-IE12 Flex 12 Point Analog Input Module

194E-AA40E 194E Load switch

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

2090-CSWM1DF-18AA03 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.

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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

Operator Interface 2711P-B6M3A PV PLUS 600 GRAYSCALE, KEY/TOUCH, DH485, AC PS

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RSI Software Products 9324-RLD6U7ESE RSLOGIX 5000 FULL TO PRO UPGRADE, SPANISH

RSI Software Products 9305-RSVADFCPTE RSVIEW32 ACTIVE DISPLAY FLOAT. CLIENT (PORTUGUESE)

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Motion Control 2094-BL02 MODULE, LINE INTERFACE, 15KW 400/460V, 6A+3A 24VDC

A06B-0153-B175#7076 A30/3000 Servo Motor, IP67 Sealing, Holding Brake, 64K Serial Encoder

IC200UDR006 28 point PLC, (16) 12VDC In, (1) 12VDC Out, (11) Relay Out, 12VDC Power Supply. Battery (IC200ACC403) is required for long term data rentntion and Real Time Clock. Battery not included.

IC752CBT020RR Datapanel 320T MEG (Mono Expansion w/ Genius): 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M memory. With Genius PC/104.

MTR-1N32-I-N-D-S-0RR Stepping Motor Nema34

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SUN CP2040-TRN

TR1000+P24V8FH-T1

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GA647IFESGSR00300 GCA iFIX Optn: ESig & ERec 300 I/O Srv

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IC647TBLCPVC010 Virtual Campus for Proficy Troubleshooter and Cause+ - 10 Users

IC693MDL754 12/24VDC Output (0.75 amps per point) Module 32 point. The module requires a terminal block (IC694TBB032 box style or IC694TBS032 spring clamp style terminal block). Terminal block is sold seperaby. Output response Time is 0.5ms.

IC756LDV000K-99 DV Development - Inb/Linux RedHat Op Sys, Korean, Version 9.9

Pico Controllers 1760-CBL-INT01 PICO-LINK CONNECTIVITY CABLE .3M 1 PCS/PACK

PLC-5/1771 System 1771-ODK CONFORMALLY COATED, 120V AC ISOLATED OUTPUT MODULE

Distributed I/O 1791-16A0 BLOCK I/O, 120V AC, 16 POINT MODULE (16 INPUT)

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Operator Interface 2706-PSW1 INVIEW MESSAGING SOFTWARE.

Support 9701-VWSS025AR SUPT REINSTATEMENT CONTRACT FOR 9701VWSS025AENE

Support 9324-RL0100FRS SUPT RENEWAL CONTRACT FOR 9324RL0100FR

EtherNet/IP Products 2711P-K15C4D2 PV PLUS 1500, KEYPAD, ENET, DC PS, EXT MEM

RSI Software Products 9301-2SE340PTU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUPT (PT)

RSI Software Products 9356-PRO2450 RSSQL PR0 VERS WTH 32000

Motion Control F-4075-R-H00AN MOTOR,F-,NEMA 56C,82 IN LB CONT.

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IC200ACC404 Spare parts kit. Two terminal strips and four plastic doors and four covers

IC693DSM314 Series 90-30 DSM314 Motion Controller, 1-4 axis

TGT-S000-1-1 Target System Module with 2 MB RAM

CB68-LP

PCM-5825

DM/V960-4T1-PCI

kvaser PCIcanS SDA-A1011

EPIA-EX EPIA-EX15000LG

HPCI-CPD532

SOM-2353F

1492-SPM1D150 MCB Supplementary Protector 15 A

通用型變頻器 6SE6 440-2UD31-5DB1 "15 KW,275 x 520 x 245"

電機啟動器 3VU13403MS00

150-C480NCD SMC-3 480A Smart Motor Controller

1609-SPD UPS Surge Replacement Module

1771-IC DC INPUT 48V

193-EC3CB E3 Plus 5-25 A Overload Relay

198-MT2 IEC Enclosure Accessory

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2094-AM05-S Kinetix 6000 Axis Module

CW0DT128M/UGR 128M RAM Upgrade Kit for DuraTouch Industrial PC

GFK-0585 Series 90 PLC SNP Communications Driver User's Manual

IC200UEX734 RTD expansion module for VersaMax Micro Pt 100, -100 to +600 C-150 to +1050 F 2 and 3 wire support. Channel update is 141/563 ms (selectable) for all channels

IC647AQC005 PA Quality Client 5 Pak

IC647PLSEDTR Proficy Pulse Editor (WebSpace Enabled)

IC693CHS399LT Base, Remote Expansion, 5 Slots (700 ft.) (LT)

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SLC/1746 System D1784-6.5.17 SLC500 & PLC5 I/O MONITOR USER MANUAL

Distributed I/O 1734-ACNR 24V DC CONTROLNET ADAPTER

Application-specific products 1803-EEM02E4 EEM,16 ANALOG, 4 TO 20 MA, NEMA 4 ENCLOSURE

Operator Interface 2711-T10G14 PV1000 GRAYSCALE TOUCH, MBUS & RS232 PRINT

Support 9301-2SE3500PTS SUPT RENEWAL CONTRACT FOR 93012SE3500PT

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DeviceNet Products 1790D-N4C0 DNET LDX, 4 INPUT ANALOG CURRENT BSE,D-SHELL CONN

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RSI Software Products 9358-PBNT03ENE RSBATCH NT FOR PROCESSLOGIX 03 UNITS

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SCXI-1175

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0B0KEIS80200B200

AIMB-256G2

AR-B9140

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188-K3D200-N Miniature Circuit Breaker 20 A

194L-HE4A-451 IEC Control And Load Sw Actuator Type A

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2090-XXNPMF-14S30 Kinetix Drives 30m Standard Cable

BC647TRT150 CIMPLICITY HMI Server 150 I/O Runtime System with Proficy GlobalCare

GC647PSC300 Global Care for Proficy Process Systems 3000 I/O with CIMPLICITY

IC200MDL940CA OUTPUT RELAY 2A ISO FORM A 16PT MODULE CONFORMAL COATED

IC646PME050 Proficy Change Management for ME 50 user pack

IC647MX1M MX1:Leeds and Northrup Max1

IC687BEM713 Half Slot Bus Transmitter Module

IC697VAL324 Discontinued, replacement is Embedded VME-6550. Contact GE IP Embedded for details.

IC800SSI407RS1 7.2 amp 480 VAC S2K servo controller for MTR series motors

SLC/1746 System 1747-M2 EEPROM MEMORY, 4K FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6181P-15NP2KH VERSAVIEW INTEGRATED DISPLAY COMPUTER 15-INCH

Application-specific products 9358-PBEBNT60ENE RSBATCH NT & EPROCEDURE BNDLE PROCESLGIX 60 UNITS

Operator Interface 2711-K5A15L1 PV550 MONOCHROME KEY, CNET & RS232 PRINT

Support 9306-4PXP01S SUPT RENEWAL CONTRACT FOR 93064PXP01ENE

Support 9393-RSTLX500R SUPT REINSTATEMENT CONTRACT FOR 9393RSLTX500

ControlNet Products 2711P-K7C15D1 PV PLUS 700, KEYPAD, CNET, DC PS, STD MEM

RSI Software Products 9301-2SE2500U3 UPGRADE: IN-SUPT: RSVIEW32 WORKS 300 TO 100K

RSI Software Products 9358-BEPB60U1R UPGRADE: OUT-SUPT: RSBW BATCH & EPROCEDURE 03 TO60

Motion Control MPL-A4540F-HK24AA MOTOR,SERVO,10.2NM,3000RPM,ENCDR,230V,BRK,13KG

Motion Control 2090-XXNFY-S12 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,12M

GABI31200C2P/AR QUICKPANEL 10.5" TFT W/AB RIO GE LABEL

IC641PCC804 Annual Maintenance for IC641PCC004

IC800SSI104RD2 4.3A, 115/230V, DeviceNet S2K Servo Controller for MTR Series Motors

PR-PAT-RX-1.2 Proficy PAT - Process Analytical Software Suite, Pharmaceutical

PXI-6229

PCI-14S3-RS-R30

YOKOGAWA LR4100E

EMACS P1U-6200P

TEKNOR T936IB

NEXCOM ICES101-C65-TY

1492-MS5X9H1-10 Connection Products

1495-N68 Protective Fuse Cover

行程開關 3SE53120SG12

運行版軟件 6AV2105-0MA14-0AA0 SIMATIC WinCC Runtime 專業(yè)版 65536 PowerTags ASIA V14

1585J-M4UBJM-1 RJ45 Ethernet Media

1756-OV32E ControlLogix 32 Point D/O Module

188-K1C160 Miniature Circuit Breaker 16 A