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　機(jī)器人誕生之日起人們就不斷地嘗試著說明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時(shí)代的到來，機(jī)器人所涵蓋的內(nèi)容越來越豐富，機(jī)器人的定義也不斷充實(shí)和創(chuàng)新。機(jī)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(jìn)步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機(jī)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(jī)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(shí)現(xiàn)PLC、變頻器、遠(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)行連接，來構(gòu)造出一種多級式分布系統(tǒng)。

　　1

　　舉個(gè)例子

　　三菱工業(yè)電機(jī)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(hù)也很方便，一般來說，常用的導(dǎo)軌寬度是3.5CM。現(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(jī)器人不是孤立工作的，一個(gè)機(jī)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(jī)、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(jī)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(gè)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(shí)時(shí)性等。移動機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)動控制器的實(shí)時(shí)性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)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(kuò)展性和兼容性。

　　為實(shí)現(xiàn)機(jī)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(jī)器人的硬件寄存器來控制機(jī)器人的運(yùn)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(shí)現(xiàn)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動機(jī)器人的電氣系統(tǒng)主要包括三個(gè)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(jī)器人控制系統(tǒng)主電路通過PLC和繼電器實(shí)現(xiàn)控制。即由繼電器由線圈和輔助觸點(diǎn)兩部分組成。當(dāng)線圈通電的時(shí)候，其對應(yīng)的常開觸點(diǎn)閉合，常閉觸點(diǎn)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(jìn)行可視化配置，以適應(yīng)不同機(jī)器人應(yīng)用程序?qū)�I/O設(shè)備的不同需求。其主要是機(jī)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(jī)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(yùn)動控制指令，使用位置控制方式，控制4個(gè)轉(zhuǎn)向伺服電機(jī)，從而控制4個(gè)車輪的轉(zhuǎn)向角；另外，使用擴(kuò)展模擬量輸出模塊輸出電壓值，控制4個(gè)輪毅電機(jī)，驅(qū)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)動性能的高。因此程序的編寫是整個(gè)設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機(jī)器人的高性能要求還有待改善

　　機(jī)器人控制器可以理解為完成機(jī)器人控制功能的結(jié)構(gòu)實(shí)現(xiàn)，因此機(jī)器人控制器是機(jī)器人最為核心的“心臟”，它從一定程度上影響著機(jī)器人的發(fā)展，高性能的工業(yè)機(jī)器人不單要實(shí)現(xiàn)PTP控制，而且還要實(shí)現(xiàn)CP控制。雖然說，采用基于PC的運(yùn)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項(xiàng)要求指標(biāo)，而電路設(shè)計(jì)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(yùn)動控制指令就能實(shí)現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)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(shí)間。因?yàn)楦咝阅芄�業(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動運(yùn)動，不單單是實(shí)現(xiàn)PTP、CP的控制，還要達(dá)到在多軸協(xié)調(diào)控制、速度、加速度、運(yùn)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(qiáng)大；等西門子公司的PLC雖然具備運(yùn)動控制的功能，但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC，因?yàn)镸ITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運(yùn)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(jìn)行通訊，從而實(shí)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(dá)到從簡單的點(diǎn)到點(diǎn)的運(yùn)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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Support F5250-LP2 FIRMWARE UPGRADE FOR 5250-LP2 PLC5250 PROCESSOR MO

RSI Software Products 9301-2SE2353DEE RSVIEW32 WORKS 5K WITH RSLINX (GERMAN)

RSI Software Products 9351-SLRSRT INTERCHANGE FOR SOLARIS RUNTIME

RSI Software Products 9399-WINIGFR INSTAL'ION GUIDE FOR WINDOWS-BASED PROD.(FRENCH)

Motion Control 8720MC-RPS065BS-HV1 SLAVE RPS WITH VARISTOR AND HARMONIC FILTER

BC646MRE700 Logic PC & View Runtime (HRT) 700 I/O

IC300THM200 18-bit, 8 channel Thermocouple Inputs (J, K, T, E, +/-25mV, +/-50mV, +/-100mV), 0.05 degree Centigrade resolution

IC754VSB06MTD 6" Monochrome Quickpanel View Basic, Touch, 24VDC

MTR-3T66-H-R-0-M-0 MTR series metric servo motor with resolver

20AD011A0NYNACG0 PowerFlex 70 AC Drive 11 A at 7.5 Hp 20A

20DC037A3EYNAEASE PowerFlex 700S AC Drive 20D

20G1ANC302AN0NNNNN PowerFlex 755 AC Packaged Drive

25C-A2P5N104 PowerFlex 527 0.4kW (0.5Hp) AC Drive

280-M35F-M3 ArmorConnect M35 Female Receptacle

FR-F740-37K 53.3KVA 70A 37KW 3相AC380V/50Hz/60Hz

1492-LG6T IEC Term Blck 8.1x90x38mm Spr Clp

1494G-CF3N-420 NEMA 1494G Enclosed Disconnect

軟啟動器 3RW44366BC36

ET 200SP 6ES7132-6BD20-0DA0 DO 4x24VDC/2A 高速型，基座單元類型 A0

1585D-E4UBDE-5 1585D Ethernet Media Patchcord

1756-A10 ControlLogix 10 Slots Chassis

1794-IE8XT Flex XT 8 Point Analog Input Module

194E-AA63E-PE-P11 194E Load switch

2080-LC30-48QVB Micro830 48 I/O Controller

2090-CSWM1DF-18AA09 Kinetix Cable Single DSL 2090-Series

20AC3P5A3AYYANC1 PowerFlex 70 AC Drive 20A

GC646MQPS99 Proficy GlobalCare Complete for View for QuickPanel - Unlimited Site License

HE693RTM705 Discontinued Part. Check with GE IP on migration path.

IC610MDL107RR 24Vdc Sink In, w/Removable Term. Block, w/LEDs (16 points)

IC647HSTSS100KM Historian Standard Server 100000 Points (M4 Key)

IC660BBD023RR 24Vdc Sink I/O Block, 16 Circuit, Ph B

IC694TBB032 Box Style High Density Terminal Block - 36 Connections

IC756WDN009K-20 DV Dev Sys(Ent) VB, C++, C, Kor v2.0

CompactLogix System 1769-L32E COMPACTLOGIX ETHERNET PROCESSOR, 750 KBYTE MEMORY

PLC-5/1771 System 1771-P7 POWER SUPPLY, 16A, 120/220V AC

Distributed I/O 1798-APB PROFIBUS DP ADAPTER

Operator Interface 2711P-K6C1D PV PLUS 600 COLOR, KEYPAD, SRIO, DC PS

Support 9323-PI300R SUPT REINSTATEMENT CONTRACT FOR 9323PI300

Support 9358-PBA03S SUPT RENEWAL CONTRACT FOR 9358PBA03ENE

Support F1775-GA FIRMWARE UPGRADE FOR 1775-GA PLC3 PROCESSOR MODULE

RSI Software Products 9324-RLD700NXESE RSLOGIX 5000 PRO EDITION, SPANISH

RSI Software Products 9305-RSVADFVCPTE RSVIEW32 ACTIVE DISPL FLOAT.VIEW CLNT (PORTUGUESE)

RSI Software Products 9308-RSFB1024ENE RSFIELDBUS 1024 FB BASE CONFIG SW

Motion Control 2094-PR2 POWER RAIL, 230V OR 460V, 2 AXIS

A06B-6073-K214 Connector, Beta Encoder (JF1), I/O Link Ext. Pulse Int. (JA34)

IC200UEX011 14 point (8) 24VDC In, (6) Relay Out, AC Power Supply (includes IC200CBL501)

IC752CBT063RR Datapanel 320T CE with Advanced software: Expansion with 2MB. 320x240 1/4 VGA Passive Color w/ 80386SX/40. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M & PC/104. With Real Time Trends & Host Communications.

MTR-1N42-H-E-A-E-0RR Stepping Motor Nema42 Encoder

ZA06B-0141-B175#7008 AC12/2000 servo motor with brake and 32k serial encoder

20BD5P0A3AYNAND0 PowerFlex 700 AC Drive 5 A at 3 Hp 20B

20G14NC104JA0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E027 PowerFlex 520 18.5kW (25Hp) Power Module

771BSS47410 Quantum CONCEPT XL 版注冊軟件,10用戶

FRN11E1S-2J 17KVA 47A 11KW 3相AC220V/50Hz/60Hz

1492-J3-G 2.5 square mm Standard Terminal Block

1492-SPM3D060-N MCB Supplementary Protector 6 A

軟啟動器 3RW40382BB05

SIMATIC HMI 系列面板 6AV2123-2MB03-0AX0 KTP1200 Basic PN 12 寸觸摸 + 按鍵

150-SF2R SMC-50 Frame C 24V DC Replacement Fan

1738-CBL3M25DS ArmorPoint Accessory

1783-ZMS8T8E2TGN ArmorStratix 5700 18 port managed switch

193-KA80 0.55-.80 A IEC Bimetallic Overload Relay

20-750-PBAY-INS-2 POWERFLEX 750 KIT,INSULATOR,2 BAR

2090-CPWM7DF-16AF40 MP-Series 40m Length Power Cable

20AB028C0AYNANC0 PowerFlex 70 AC Drive 28 A at 10 Hp 20A

GA647IFPLDVUNLMT GCA iFIX Plus SCADA Unlmt Dev

GP647IFCLNTSRO001 GCP iFIX iClientTS Read Only 5 PK Runtime Version

IC600BF816RR Type T Thermocouple Input Module (8 points)

IC647HSTCC500KM Calculation Collector for Historian - Standard Server 500,000 Points (M4 Key)

IC647TDV075 CIMPLICITY HMI Server 75 I/O Development & Runtime System

IC693MDL931 Relay Output, 8 Amp Form B/C contacts, Isolated in groups of 4

IC756LDV001J-925 DataViews Development on Intel Linux/Red Hat 32 bit, Addt'l User, Japanese v9.25

Pico Controllers 1760-NDM MEMBRANE PROTECT DISPLAY

PLC-5/1771 System 1771-OND 24VAC OUTPUT MODULE, 16 OUTPUTS

Distributed I/O 1791-24BR BLOCK I/O, 24V DC, 32 POINT MODULE

Communications 1786-TPR CONTROLNET T-TAP/RIGHT ANGLE

Operator Interface 9701-VWSTMFRE RSVIEW STUDIO FOR MACHINE EDITION (FRENCH)

Support 9701-VWSTMS SUPT RENEWAL CONTRACT FOR 9701VWSTMENE

Support 9324-RL0300ENR SUPT REINSTATEMENT CONTRACT FOR 9324RL0300EN

EtherNet/IP Products 1747-L553 SLC 5/05 CONTROLLER

RSI Software Products 9301-2SE3500DEU1 RSVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (DE)