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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(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(diào)。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(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?qū)/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(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?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，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(diào)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(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。

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運行版軟件 6AV2105-0PA04-0AA0 SIMATIC WinCC Runtime 專業(yè)版 102400 PowerTags V14

150-F85NBD SMC Flex Smart Motor Controller

1738-AENTR ArmorPoint Dual Port Adaptor

1790D-T16BV16V CompactBlock LDX 32 Point Base Block

194E-Y100-1753-6G 100 A 194E Load switch

20-750-MNT2-F8 PF755 FR8,IP00,PANEL MOUNTING KIT

2090-CSBM1DF-18AA10 Kinetix Cable Single DSL 2090-Series

BC646MRA159 View Runtime 1500 I/O with Proficy GlobalCare Complete

EDS-308-M-SC-T C1 D2 7-port 10/100, 1 port multi-mode SC fiber (-40 to 75 deg C op temp)

GFK-1277 Genius Modular Redundancy User's Manual

IC220ACC101 MOTOR STARTER BRAKE MODULE AC/DC

IC647BWI005 Batch Opt: WorkInstruction Pilot Server Pak (5 Units)

IC647PRTKIT002M Proficy Portal Enterprise Edition Starter Kit 2 User (M4 Key)

IC693CPU374 CPU 374 Module (240K Bytes configurable user memory) The battery for the CPU is now included in the CPU backplane box, Embedded Ethrnet 10/ 100Mbs w/built-in switch. No serial ports. Note: The CPU37x CPUs may not work with Horner Electric modules

IC756ADV001E-98 DV Development - AIX Op Sys Addt'l User, English, Version 9.8

MSI-EFF-UNL Unltd Site Clients - Efficiency Mgmt

SLC/1746 System 1746-RT29 REPLACEMENT TERMINAL BLOCK - RIO COMMUNICATION

Distributed I/O 1738-IV4M12 24VDC 4 SOURCING INPUT WITH M12 CONNECTORS

Communications 1788-CN2FF CONTROLNET TO FIELDBUS LINKING DEVICE

Operator Interface 2711-NM232 32MB FLASH ATA MEMORY CARD

Support 9302-RT15S SUPT RENEWAL CONTRACT FOR 9302RT15

Support 9324-RL5300ENS SUPT RENEWAL CONTRACT FOR 9324RL5300EN

DeviceNet Products 2706-P22R INVIEW PANEL MOUNT DISPLAY

RSI Software Products 9301-2SE3353JPE RSVIEW32 RUNTIME 5K WITH RSLINX (JAPANESE)

RSI Software Products 9326-AD25WDENE WIRING DIAGRAM GENERATOR ADD-ON 25 USER

Motion Control MPG-A010-031S24 MOTOR,SERVO,GEAR RATIO 31,26NM,157RPM,SINGL,BRK

Silver Series 1770-HT8 HART 8 CHANNEL NON-ISOLATED TERMINAL BLOCK

HE693OIU197 Compact VF Fenius OIU w/numeric keypad, powered by 24VDC

IC660BBR101 Block Relay Output Normally Open 16 Circuits

QPI3D200S2P QUICKPANEL COLOR 10.5" STN

ST-5211 STXi Serial Interface module RS-232C, 1 Channel

20BC1P3A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1AGD361AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-A2P3N104 PowerFlex 40- 0.4 kW (0.5 HP) AC Drive

140DDI35300 Quantum 開關量 DC 輸入, 32點, 24 VDC, 4組隔離

284D-FVD4P0B-10-CR-DB-SB DeviceNet Variable Frequency Drive

E3JM-DS70M4 70cm,擴散反射式,觸點輸出3A 電源:24-240V AC/DC

1492-SJ8-10 IEC Term Blck 10 pole Side Jumper

人機界面 6AV6542-0BB15-2AX0 OP170B 操作員面板，5.7 英寸，藍色

6ES78331FC020YA5

1497B-A13-M12-0-N Control Power Transber

1606-XLS240F-D XLS 5 Amp Power Supply

1769-CRR3 CMPLX 1 m Right to Right Bus Exp Cable

188-K4D500 Miniature Circuit Breaker 50 A

194R-FC03 194R Cable Op Disc Switch Mechanism

2090-CPBM7DF-12AA09 MP-Series 9m Power and Brake Cable

2090-XXNPMP-16S05 MP-Series 5 m Length Power Cable

CBL-1C-ET-10 Encoder cable for MTR-1216 or MTR-1221 or MTR-1231 series stepping motors. 10 feet

GF-0196S-10 Connecting FlashCable to Brown & Sharpe Digit Dial plus, 10 ft.

IC200TBX114 Tool box, 14 point (IC200UDR001) 24VDCIn/Relay Out, AC Powered (requires AC power), V ersaMax DataPanel DP45 (requires 24VDC supply) with Programming software and cables, (IC640VPS 00, IC752DDZ000, IC200CBL555, IC646MPM001)

IC646TBSPMPS100 Smart Process Monitoring Process+ server 100 loops

IC647NRP000 CIMPLICITY HMI Recipes Option

IC693ACC319 Spare Parts Kit (I/O, CPU, PCM)

IC752BDT000RR Datapanel 240T, 240x128 LCD with CCFT backlight. 6x8 Matrix Resistive touch screen with text, bitmaps, bar graphs, real time clock.

IC800VMCE1200 Encoder cable for 1 kW to 3 kW VersaMotion servo motors- 20 meter

SLC/1746 System 1746-OV16 DC OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-1ACPS AC POWER SUPPLY 1U STANDARD

Application-specific products 6556-SPLS PROGRAMMABLE LIMIT SWITCH SOFTWARE FOR THE SLC

Operator Interface 2711-B6C16L1 PV600 COLOR KEY&TOUCH, DF1 & RS232 PRINT

Support 9301-2SE2300ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300ZH

Support 9307-EM643PXS SUPT RENEWAL CONTRACT FOR 9307EM643PXENE

DeviceNet Products 1734D-IB16S 24 VDC 16 IN, DNET COMMS, SPRING

RSI Software Products 9301-2SE250PTU1R RSVIEW32 WORKS 32K-100K UPGRADE OUT-SUPT (PT)

RSI Software Products 9358-BNT30UB1R UPGRADE: OUT-SUPT: RSBATCH 30 UNITS TO BUNDLE

Motion Control MPL-B320P-SK22AA MOTOR,SERVO,2.94 NM,5000RPM,SINGL,460V

Motion Control 2090-MPPC-S KIT CONNECTOR,POWER STRAIGHT MF

GFK-0585 Series 90 PLC SNP Communication's Driver Reference Manual

IC641VPS950 VersaPro Standard Edition 50 Seat Site License - Windows Programming Software for Series 90-30 and VersaMax PLCs

MSCPU-21280698 Marathon Std CPU - 333 MHz AMD CPU, 128M, 6G, Win98, no expansion slots

PSPC-DC5/E-220L Prof Shop Floor SPC DC 5 User eSig 220v

20BC015A0AYNANC0 PowerFlex 700 AC Drive 20B

20F11FC015JA0NNNNN PowerFlex 753 AC Packaged Drive

2198-KITCON-CAP1300 CONKIT,K5500,CAP MODULE

2711P-RBB10 PanelView Plus Accessory

280-PWRM35H-M20 ArmorConnect 3-PH Power Media trnk cable

CQM1-PR001-E 編程器?（配1.5米連接電纜）如需連CQM1H系列CPU,需加CS1W-CN114

1492-N22 TERM BLCK Rigid MTG Rail

通訊處理器CP 6GK7 343-1EX21-0XE0 "CP343-1 工 業(yè) 以 太 網(wǎng) 通 訊 處 理 器10/100Mbit/s,RJ45 接口"

行程開關 3SE53222SE22

TIA 博途 WinCC 選件 6AV2107-0KP00-0BB0 SIMATIC WinCC WebNavigator for Runtime Professional 150 Clients

1585J-M8HBJM-2M5 RJ45 Ethernet Media

1760-DUB PicoGFX with Keypad Display

188-K2B200 Miniature Circuit Breaker 20 A

194E-Y80-1753-6N 80 A 194E Load switch

2090-CHBP8S8-12AA02 Kinetix 6000M IDM Hybrid Cable

2090-UXPC-D0909 Ultra Series 9m Interface Cable

BC647MODEV Motion Developer for S2K Series Amplifiers/Controllers with Proficy GlobalCare Complete with USB Hardware key

GC647IFPRRNUNLMT GCC iFIX Profsnl SCADA Unlmt Run

IC200CHS014 I/O interposing box style Thermocouple cold junction compensation

IC646MRA300 View Runtime 300 I/O

IC647IFSTDV00900M iFIX Standard HMI 900 I/O Development (M4 Part)

IC670CBL002 21 inch I/O Expansion Cable

IC697CPX935 CPU, 96 MHz, 12K Discrete I/O, 1M byte fixed user memory

IC800SKCEZ050 Encoder cable to connect an S2K to any 30 Watt to 750 Watt S-series servo motor. 5 meters

ControlLogix/1756 System 1756-IT6I2 ENHANCED ISOL THERMOCOUPLE/MV INPUT 6PTS (20 PIN)

Industrial Computers 6182H-10TRH15D VVCE 1000, TOUCH, STD MEM, CNET, DC

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Operator Interface 2711P-RGK15 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABITR SUPT REINSTATEMENT CONTRACT FOR 9355WABIT

Support 9354-LN100S 9354-LN100 SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1784-PCIC CONTROLNET PCI BUS MESSAGING CARD WITH

RSI Software Products 9301-2SE2400KOE RSVIEW32 WORKS 32K (KOREAN)

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Motion Control MPL-A320P-SK22AA MOTOR,SERVO,2.94 NM,5000RPM,SINGL,230V,4.1KG

Motion Control 2090-U5PM-D0903 CABLE, ULTRA5000 TO PANELVIEW 300 MICRO DF-1, 3M

CBL-12-MP-10 Power Cable, MTR-1216, 1221, or 1231 Stepping Motor, 10 Ft.

IC600KD512RR Color Operator Interface Terminal, 12" CRT

IC800SGM450M2KE25 4500W, 230V S-Series Servo Motor, 322 in-lb (36.4 Nm)

OC647IFESGRN00300C iFIX Optn: ESig & ERec 300 I/O Runtime (M1Component Part)

20AD040A3AYNAEC0 PowerFlex 70 AC Drive 40 A at 30 Hp 20A

20DC590N0ENNBDANE PowerFlex 700S AC Drive 590 A 315 kW 20D

20LD1K2N0ENNXNW0WA PowerFlex 700L AC Drive 20L

2707-NC10 DTAM MICRO-MICROLOGIX COMMS CBL. 6 F

280-PWRM22E-M025 ArmorStart Three-Phase Power Media

FX2N-16EYT 擴展16出 晶體管輸出

1492-M6X5 IEC 6 x 5 mm Marker Card

1494R-N2 Lug Kit

軟啟動器 3RW44476BC35

ET 200SP 6ES7193-6PA00-0AA0 服務模塊 (備件)

1585D-M4UBDE-0M6 1585D Ethernet Media Patchcord

1756-IB16DK ControlLogix 16 Point D/I Module

1794-TB3GSK Flex Terminal Base

194E-E100-1756 100 A 194E Load switch

2090-CFBM4DD-CDAA05 MP-Series 5 m Length Feedback Cable

2090-K6CK-D44M Kinetix 6000 Low Profile Connector Kit

ADP-SCM-STF-S SC to ST single mode adapter

GC646TDV050 Proficy GlobalCare Complete for Server 50 I/O Develop/Runtime System

HE800CBL219 I/O Extension Cable, 19-pin, 2.0m. For use in conjunction with TRM519

IC640MWS902RR Workmaster System/ 2-35 inch Disk Drive

IC647HSTSSEO5000KM eSignature Option for Historian - Standard Server 5,000,000 Points (M4 Key)

IC660BRD024 Genius 12/24VDC Source Block for Redundancy T Output Configurations

IC695CRU320CA Conbal coated. 1Ghz CPU with 64Meg of memory 2 SERIAL PORTS (occupies two slots on system base) redundant CPU. External high capacity battery IC693ACC302 required. The CRU320 will only work with RX3i ENIU remote I/O and Genius LAN.

IC756WET200K-99 Custom Datasource Toolkit, Korean, Version 9.9

CompactLogix System 1769-STRT2ES COMPACTLOGIX STARTER KIT SPANISH

PLC-5/1771 System D1771-6.5.27 DIRECT COMMUNICATION MODULE(1771-DCM)USER'S MNL

Process Control 1757-PLXNA RECIPE MANAGER

Operator Interface 2711P-K7C4D2 PV PLUS 700, KEYPAD, ENET, DC PS, EXT MEM

Support 6556-SPLSR SUPPORT REINSTATEMENT CONTRACT FOR 6556SPLS

Support 8100-HSKARS SUPT RENEWAL CONTRACT FOR 8100HSKA

Support F1785-L11BSERD FIRMWARE UPGRADE FOR 1785-L11B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2203KOE RSVIEW32 WORKS 300 WITH RSLINX (KOREAN)

RSI Software Products 9701-VWSB025FRU1 RSV SE STATION 25 - SE SRV 25 UPG (FRENCH)

RSI Software Products 9399-FW5FBGR RSLGIX FRAMWRKS FUNCTION BUILD.GET'G RESULTS GUIDE

Motion Control 2098-DSD-150-DN DRIVE, 65A/150A, ULTRA3000 W/DEVICENET

BC5008TBN0000 18 Inch Inbligence Industrial Computer - Bundled - Perbance Series - w/ Windows NT

IC300DIM210 8 DC Inputs (12/24vdc, pos/neg logic).

IC752ECD550 Display Station 1493 - 14" XGA (1024x768) resistive touch screen, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-3S45-G-R-B-E-SRR Servo Motor 24V Brake, Seal

ZA06B-6093-K001 Replacement serial encoder battery for Beta series amplifiers

20BH140A0ANNANC0 PowerFlex 700 AC Drive 20B

20G14TD740AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-A2P5N114 PowerFlex 523 0.4kW (0.5Hp) AC Drive

2711P-T10C4D9 PanelView Plus Terminal

FRN280P11S-4CX 400KVA 520A 280KW 3相AC380V/50Hz/60Hz

1492-JD4C 4 square mm Double Level Terminal Block

1492-W6 IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW40766BB45

性能信號模塊 6ES7 521-1BH50--0AA0 DI 16：數(shù)字量輸入模塊，源型，DI 16x 24VDC SRC BA, 35mm 模塊，不含前連接器

156-B30BV1 30 A Contactor

1746-IB8 SLC 8 Point DC Input Module

1786-TNCL10 ControlNet Media TNC Connector Plug

193-T1BC30 24.5-30.0 A IEC Bibllic Ovld Relay

20-HIM-A5 PowerFlex Architecture Class HIM

2090-CSBM1DF-14AA20 Kinetix 20m Smartb Single Cable

20AC015C3AYNANC0 PowerFlex 70 AC Drive 20A

GA647TPR915 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 1500 I/O Runtime System

GP647IFSTDVUNLMT GCP iFIX Std HMI Unlmt Dev

IC600CB524RR Arithmetic Control Module

IC647HSTCSCCP25M Historian Enterprise Corporate Client Enterprise Connection Pack 25 Users (M4 Key)

IC647UDCC UDC:Honeywell UDC Controllers

IC693UAA007RR 28 pt AC In/AC Out, AC Power Supply

IC756RDV000K-99 DV Development - Irix Op Sys, Korean, Version 9.9

MicroLogix 1200 System 1762-L24BWA MICROLOGIX 1200, 24 PT.

PLC-5/1771 System 1771-CFMK CONFORMALLY COATED, CONFIGURABLE FLOW METER

Distributed I/O 1794-IB10XOB6 10/6 24VDC COMBO

Communications 9355-WABGWFRE RSLINX GATEWAY - FRENCH

Operator Interface D6190-6.5.9 CONTROLVIEW NETWORKER(CAT.NO.6190-NET)USER'S MNL

Support 9358-BCMPN01R SUPT REINSTATEMENT CONTRACT FOR 9358BCMPN01ENE

Support F1403-MMVER2X FIRMWARE UPGRADE FOR 1403-MMV POWERMONITOR MODULE

RSI Software Products 9324-RL01U3PTER UPGRADE: OUT-SUPT: PORTUGUESE RS500 START TO RS500

RSI Software Products 9301-2SE3503DEE RSVIEW32 RUNTIME 100K WITH RSLINX (GERMAN)

RSI Software Products 9358-HSTCLTENE RSBIZWARE HISTORIAN SINGLE USER RUN TIME CLIENT

Motion Control Y-2012-2-H00AA MOTOR,SERVO,1.35 NM,4500RPM,ENCDR,230V,2.31KG

5401 Greyline Micro MC. 2 Lines, (20) 5MM Chars. LCD. Quick Connect. NEMA 4

IC200DTX450 Operator Interface with up to 200 stored messages. 2 x 16 character LCD backlight display and 6 function keys

IC695CHS016 RX3i BASE 16 SLOTS

MSI-WEB-UNL-43 Unltd Site Clients - Web or Excel Rep-43

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