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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新。機器人技術作為20世紀人類最偉大的發明之一，自20世紀60年代初問世以來，經歷40多年的發展已取得長足的進步。隨著近年來制造業的不斷發展，工業機器人已成為智能制造和工業自動化的關鍵技術和重要產品，也是數控機床走向自動化更高階段的重要一環。

　　隨著電子控制技術的不斷發展，PLC正向高速度、容量大等物聯網及智能通信方向發展，通過物聯網，能實現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。

　　1

　　舉個例子

　　三菱工業電機中的CC-Link構建的一種開放性面向現場控制的總線網路系統，DIN是德國工業標準，使用導軌是工業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。現如今，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

　　工業機器人的自動控制系統

　　1、底層控制器

　　底層控制器作為控制系統的核心，其選擇的合適與否對整個系統來說十分重要，其性能直接影響了控制系統的可靠性、數據處理速度、數據采集的實時性等。移動機器人運行環境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩定可靠地運動控制器至關重要，既要滿足系統要求，又要具有良好的可擴展性和兼容性。

　　為實現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，這些控制函數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，通過調用控制函數接口就可以實現對機器人的有效控制。

　　2、電氣系統

　　在對輪式全向移動機器人控制系統硬件進行選型以后，根據移動機器人的硬件組成進行電氣系統設計。移動機器人的電氣系統主要包括三個部分：主電路、伺服驅動系統電路和PLC控制系統電路。

　　移動機器人控制系統主電路通過PLC和繼電器實現控制。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數據映像區大小信息，通過軟PLC編程系統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行器I/O使用，末端執行器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節之一。

　　3

　　PLC要滿足工業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，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展，高性能的工業機器人不單要實現PTP控制，而且還要實現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機器人的運動控制，但是卻無法滿足高性能工業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對機器人的運動控制，因此，PLC想要在機器人多軸運動協調控制、網絡通訊方面取得優勢，還是需要一定的時間。因為高性能工業機器人主要是各關節的驅動運動，不單單是實現PTP、CP的控制，還要達到在多軸協調控制、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結合物聯網及高科技術，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，從而實現高度的集成操作及位置環和速度環的閉環控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業機器人的要求。
 

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198-MR6 IEC MANUAL Enclosure Accessory

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IC800SKCPVL050 Power cable for SLM350 or SDM500 or SLM500 S-series servo motor to an S2K. 5 meters

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Industrial Computers 6182H-12BEH4D VVCE 1250, KEY/TOUCH, EXT MEM, ENET, DC

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CBL-136 Cable. Mitsubishi A Series Prog. Port (RS-422)

IC600RR551RR RPU Rack With Power Supply, 115-230Vac

IC800SKCEZ050 Encoder Cable, S2K to 200-750W S-Series Servo Motors, 5 Meters

OC647IFESGSR00150C iFIX Optn: ESig & ERec 150 I/O Server (M1Component Part)

20AD052F3AYNANC0 PowerFlex 70 AC Drive 52 A at 40 Hp 20A

20DC5P0A3EYYAEASE PowerFlex 700S AC Drive 20D

20P21AD010RA0NNN PowerFlex 10 A DC Drive

2711-CBL-PM10 PanelView 300 10m Operate and Prog Cable

280-PWRM22E-M8 ArmorStart Three-Phase Power Media

FX2N-4AD-TC 4通道熱電耦模擬量輸入模塊

1492-M8X5 IEC 8 x 5 mm Marker Card

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1794-TB62DS Flex Terminal Base

194E-E16-1756 16 A 194E Load switch

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PLC-5/1771 System D1771-6.5.77 THERMOCOUPLE/MILLIVOLT INPUT MODULE(1771-IXE/B)MNL

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IC300DIQ711 16 DC Inputs (12/24vdc), 12 DC Outputs (5/12/24vdc,o.5A neg. logic with ESCP)

IC752MNL000 Mature. Datapanel Performance Series Operator's Manual

MTR-3S46-H-R-B-E-SRR Servo Motor 24V Brake, Seal

ZA06B-6114-K200#E Encoder connector for BM0.5 or BM1 servo motor

20BP260A0ANNANC0 PowerFlex 700 AC Drive 20B

20G1ABC460AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-B048N104 PowerFlex 523 11kW (15Hp) AC Drive

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OPC-G11S-PG2(反饋卡)

1492-JG2Q 1.5 square mm Ground Terminal Block

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156-B45AA1 45 A Contactor

1746-NI16I SLC 16 Point Analog Input Module

1786-XT ControlNet Media BNC Terminator

193-T1DC60P 45-60 A IEC Bimetallic Overload Relay

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20AC022A3AYNANG0 PowerFlex 70 AC Drive 22 A at 11 kW 20A

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IC600CM552RR 2K Combined Memory Module

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IC647WFL002 Proficy Workflow - 2 User License

IC694ACC310 RX3i Blank filler module

IC756RDV001K-98 DV Development - Irix Op Sys Addt'l User, Korean, Version 9.8

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PLC-5/1771 System 1771-LC4B LOOP CONTROLLER W/RTD OPTION,240V AC SUPPLY

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601 Numeric Keypad, Flat Membrane keys. NEMA 4

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IC695PSD040 Power supply 24VDC 40 watts occupies one slot on system base

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20BD077A0ANNAND0 PowerFlex 700 AC Drive 77 A 60 Hp 20B

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193-EELZ E1 Plus 100-500 A Overload Relay

20-750-APS PowerFlex 750 Auxillary Power Supply

2090-CPWM7DF-10AA05 MP-Series 5m Servo Power Cable

2097-V32PR2 Kinetix 300 Servo Drive

ET-GT-3ES-2ST 2 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch

GFK-1911 VersaPoint Profibus NIU User's Manual

IC220MDD841 ABSOLUTE ENCODER INPUT, 4IN/4OUT 24VDC (REQUIRES 1 IC220TBK202)

IC647CSPR050 Proficy Cause+ for Intelligent HMI/SCADA Runtime Server - 50X monitored KPIs

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IC756CDV000J-98 DV Development - Compaq True64 Op Sys, Japanese, Version 9.8

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PLC-5/1771 System 1785-L40E ETHERNET/IP PLC-5/40 CONTROLLER, 48K WORD SRAM

Distributed I/O 1738-ADN18 DEVICENET ADAPTER WITH MINI CONNECTORS

Communications 1787-USADPTR U.S. P/S ADAPTER FOR 1770-KFD

Operator Interface 2711-NR5K CUTOUT ADAPTER TO MOUNT 1000/1000E/6182 12" KEYPAD

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DeviceNet Products 2711-K5A10L1 PV550 MONOCHROME KEY, DNET & RS232 PRINT

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HE693STP104 One axis stepper positioning module for Series 90-30 with Normally Closed Limit Inputs

IC670MDL240 120VAC Input 16 Pt. Grouped

QPJ2D100L2P QUICKPANEL JR. MONO 5" LCD

ST-7408 STXi Potential Distribution module for Shield module, with module ID type with LED

20BC2P1A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1ANC302JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-B033N104 PowerFlex 40- 7.5 kW (10 HP) AC Drive

140DAO84210C Quantum 開關量AC輸出,16點,110-230VAC,隔離,4組

284D-FVD6P0Z-25-CR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3F3-D31 10cm,擴散反射式, 明通，PNP 晶體管輸出100mA電源：10-30VDC直徑18mm

1492-SPM1B050-N MCB Supplementary Protector 5 A

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6ES73325HD014AB1

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1606-XLSBAT2 1606 26 Ah UPS Battery Power Supply

1769-L16ER-BB1B CompactLogix 384KB DI/O Controller

190-PY Circuit-Breaker Disconnect Accessory

194R-J30-1753S 194R Disconnect Switch

2090-CPBM7DF-14AA90 MP-Series 90m Standard Cable

2090-XXNPN-16S05 N-Series 5 m Length Motor Power Cable

CBL-3P-MP-10 Power cable for MTR-3S60-H series servo motors. 10 feet

GF-0817R Connecting FlashCable to Promeasure Scale.

IC200UAA003-24 Qty of 24, 14 point PLC, (8) 120VAC In, (6) 120VAC Out, 120V/240VAC Po (6) AC Out, AC Power supply.

IC646TBSPMSW010 Smart Process Monitoring SPC+ Web Clients 10 Pack

IC647NVC000 CIMPLICITY HMI Digital Graphical Replay (DGR)

IC693ALG221CA Conformal Coated Analog Input module, four point current.

IC752CGE203 VersaMax Nano/Micro, RF-45, RS-232 to DataPanel 150/160/240E

IC800VMM04LNKSE25 400 W VersaMotion servo motor (1.27 Nm)

SLC/1746 System 1746-NT4 THERMOCOUPLE/MV INPUT MODULE FOR PROGRAMMABLE CTRL

Industrial Computers 6189V-FANFIL1 FAN FILTER (1500W) 5-PACK (WORKSTATION)

Application-specific products 1403-LM05A MASTER MODULE FOR POWERMONITOR

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1585J-M8PBJM-20X 1585J Ethernet Media Cables

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194L-E12-1754 12A 194L Load Switch

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