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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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IC754VBF12CTD View 64/64MB 12in Color TFT Touch Blank

MSI-BASE Base Clients

SLC/1746 System 1746-F3 FUSE FOR CATALOG NUMBER 1746-P3 POWER SUPPLY

Distributed I/O 1734-IV2 24V DC 2 CHANNEL SOURCE INPUT MODULE

Application-specific products 1803-EEM11E12 EEM, 16 PULSES,24V DC,8 ANALOG,4 TO 20 MA, NEMA12

Operator Interface 2711-T10G20L1 PV1000 GRAYSCALE TOUCH, ENET & RS232 PRINT

Support 9301-RSVGEMENS SUPT RENEWAL CONTRACT FOR 9301RSVGEMEN

Support 9381-PP15KENR SUPT REINSTATEMENT CONTRACT FOR 9381PP15KEN

DeviceNet Products 1790D-T8A0 DNET LDX , 120V AC, 8 INPUT BASE, TERMINAL BLOCK

RSI Software Products 9301-2SE3350 RSVIEW32 RUNTIME 5K

RSI Software Products 9358-PBPC03ENE RSBIZWARE BATCH FOR PLX PC BASED PHASE 03 UNITS

Motion Control MPL-B680D-SJ24AA MOTOR,SERVO,60.0NM,2000RPM,SINGL,460V,BRK

Silver Series 1398-50 MANUAL, USER, ULTRA 200

HE200UCN014 CAN based PLC w/8 24VDC in and 6 relay out, 24VDC power (includes software)

IC646NWS999 CIMPLICITY ThinView for Windows CE/ PocketView Software and License

PC752GEI104 GE Fanuc Series 90-30 I/O Interface module

ST-2524 STXi output module 4 points, Positive Logic, Diagnostics, 24VDC/ 2A

20BC085A3AYNAND0 PowerFlex 700 AC Drive 85 A 45 kW 20B

20F14NC170AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-B012H204 PowerFlex 4 2.2 kW (3 Hp) AC Drive

TSXMRPC007MC Quantum Unity V2 PCMCIA存儲擴展卡（SRAM)，程序存儲192-7168K，數據存儲6976-0K，帶涂敷涂層

284-PWRM24A-M1 Power Cable, Patch ,Shielded,M24, 1m

CJ1G-CPU45 CPU單元I/O點數1280，30K程序容量，最多三個擴展機架。

1492-REC15 IEC Duplex Rcpt, 15A, Din Rail Mtg

總線插頭 6ES7972-0BA12-0XA0 RS485 總線插頭， 12MBd 90? ，不帶編程接口

變送器 3RS20 40-2GD50

1497-M-BASX-0-N Control Circuit Transformer

1606-XLE80E Power Supply XLE 80 W Power Supply

1764-28BXB1 MicroLogix 1500 28 Point Controller

188-K3D500-N Miniature Circuit Breaker 50 A

194L-HE4L-175 194L Control and Load Switch Actuator