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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(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(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)機器人不是孤立工作的，一個機器人工作站，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、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(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(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(shè)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(dāng)線圈通電的時候，其對應(yīng)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(yīng)不同機器人應(yīng)用程序?qū)/O設(shè)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(shè)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(biāo)，而電路設(shè)計以及編程相當(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(luò)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(fù)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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ABKSTDN0000/SER 6 inch Color STN/ TCP Label/ 24VDC/ with HMI-CAB-C52 & HMI-CAB-C83/ UL/ cUL/ CE/ UL1604

GC646PEW110E Proficy GC for OP EWS Development Software 700 I/O

HE800ACC112 Cage-clamp (screw) style I/O plug, 12-terminal. (Qty 10)

IC640BSS303RR Series Six Interface Board

IC647HSTSSEO150KM eSignature Option for Historian - Standard Server 150000 Points (M4 Key)

IC660BLM506 Bus Terminator 150 Ohm (Qty 4)

IC695CMM004 RX3i serial communications module. Four isolated RS-232/485 port. Supports Serial Read/Write and Modbus Master/Slave. Requires Unversal Backplane.

IC756WET100K-23 Custom Editor Toolkit, Korean, Version 2.3

CompactLogix System 1769-DPALEN COMPACTLOGIX SYSTEM DOCUMENTATION SET PRINTED

PLC-5/1771 System D1771-6.5.117 WEIGH SCALE MODULE USER MANUAL

Process Control 1757-FIMC5 FIELDBUS INTERFACE CABLE - 5 - METERS

Operator Interface 2711P-B7C6B1 PV PLUS 700, KEY/TOUCH, RIO/DH, AC PS, STD MEM

Support 6500-PS7COINJS SUPT RENEWAL CONTRACT FOR 6500PS7COINJ

Support 9358-PLTMATHR SUPT REINSTATEMENT CONTRACT FOR 9358PLTMATHENE

Support F1785-ENETSERB FIRMWARE UPGRADE FOR 1785-ENET COMMUNICATION MDL

RSI Software Products 9301-2SE2200PTU1 RSVIEW32 WORKS 150-300 UPGRADE IN-SUPT (PT)

RSI Software Products 9701-VWSB000FRU4 RSV SE STATION UNLTD- SE SRV UNLTD UPG (FRENCH)

RSI Software Products 9399-DNETGR RSNETWORX FOR DEVICENET GETTING RESULTS GUIDE

Motion Control 2098-IPD-HV220 HIGH VOLTAGE DRIVE, 47A/94A, ULTRA5000

BC5002TAX0000 12" Bundled Inbligence Industrial Computer with Win XP Standard Series

IC300CBF001 FOX Fiber Cable Pair, 1.0M

IC752DTX500 DataPanel 50, 2 x 20 LCD display, 5 function keys, 4 LEDs, numeric keypad function, recipes, alarms, menus supported. Use new DataDesigner S/W, IC752DDZ000 to confiqure and load protocols

MTR-3S43-G-R-0-E-SRR Servo Motor with Seal

ZA06B-6089-H105 Alpha series SVU1-80 amplifier rated 80 amps and 200/230 VAC

20BE3P9A0AYNANC0 PowerFlex 700 AC Drive 3.9 A at 3 Hp 20B

20G14TC650AN0NNNNN PowerFlex 755 AC Packaged Drive

25-RF039-EL PowerFlex 520 38.9A 480V EMC Filter Kit

2711P-RY2032 PV Plus 700 to 1500 Replacement Battery

FRN 3 0P11S-4CX 4 6 KVA 60A 30KW 3相AC380V/50Hz/60Hz

1492-JD3DF 2.5 square mm Internal Component Block

1492-W3-G IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW40756BB34

安全 CPU 模塊 6ES7 518-4FP00-0AB0 SIMATIC S7-1500F，CPU 1518F-4 PN/DP，帶有：6 MB 程序存儲區(qū)和 20 MB 數(shù)據(jù)存儲區(qū)

156-B20CA3 20 A Contactor

1746-F8 SLC for I/O Module Replacement Fuse

1786-RPA ControlNet Modular Repeater Adaptor

193-T1AB63 4.5-6.3 A IEC Bibllic Overload Relay

20-FR09133 FASTENING PLATE PWRFLEX HIGH PWR FR 9

2090-CSBM1DF-14AA07 Kinetix 7m Smartb Single Cable

20AC015A0AYYANC0 PowerFlex 70 AC Drive 20A

GA647TPD075 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 75 I/O Development and Runtime System

GP647IFPRRN00900 GCP iFIX Profsnl SCADA 900 I/O Run

IC600CB503RR I/O Control Module

IC647HSTCS2000KM Historian Enterprise Corporate Server 2,000,000 Points (M4 Key)

IC647TRT999 CIMPLICITY HMI Viewer Runtime System

IC693PWR328 Power Supply, 48 Vdc, Standard. Battery not included. Battery is now included in the CPU backplane box.

IC756MDV010J-99 DV Draw Dvlpnt on Alpha OpenVMS, Japanese, Version 9.9

MicroLogix 1000/1761 System 9399-RLD300GR RSLOGIX 5000 GETTING RESULTS GUIDE

PLC-5/1771 System 1771-NR HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1794-ACNR15 REDUNDANT MEDIA ADAPTER FOR CONTROLNET

Communications 9351-WKTSRT INTERCHANGE FOR WINDOWS RUNTIME

Operator Interface D6190-6.5.34 CONTROLVIEW HYDRAULICS CONF.& OPERATION MANUAL

Support 9358-BA10S SUPT RENEWAL CONTRACT FOR 9358BANT10ENE

Support 9392-CDRSRUU UPGRADE TO ENGLISH/RUSSIAN BUNDLE

RSI Software Products 9324-RL0100PTE RSLOGIX 500 STARTER PORTUGESE CD

RSI Software Products 9301-2SE3500U3R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 300 TO 100K

RSI Software Products 9356-STD2300U2R UPGRADE: OUT-SUPT: RSSQL STAND.300 TAG TO 1500 TAG

Motion Control Y-1002-2-H00AA MOTOR,SERVO,0.17 NM,4500RPM,ENCDR,230V,0.91KG

5004-24 Obsolete - Message Center. 1 Line, 15MM, Green VFD. 24VDC. NEMA 4

IC200CHS111 I/O INTERPOSING RELAY STYLE, FUSED 16 PT

IC694MDL741 OUTPUT MODULE 12/24 VDC 0.5AMP 16 POINT NEGATIVE LOGIC