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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(zhǎng)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(dòng)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(dòng)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(jí)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(chǎng)控制的總線網(wǎng)路系統(tǒng)，DIN是德國(guó)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(dòng)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(dòng)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(dòng)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(duì)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(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對(duì)運(yùn)動(dòng)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(dòng)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(duì)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(dòng)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(duì)機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)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(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動(dòng)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(duì)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(hào)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(dòng)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(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外，程序的好壞直接決定著運(yùn)動(dòng)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(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)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(jiǎn)單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制，因此，PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì)，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(dòng)運(yùn)動(dòng)，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(dòng)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(dòng)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(dòng)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(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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Motion Control 2090-UXNPAN-16R01 CABLE,NON-FLEX, MOTOR POWER, N,R/A,16AWG,1M

CBL-30-JP-06 AC Power Cord with 3-Prong Plug, 6 Ft.

IC640MWS901RR Workmaster System, 1-35" Disk Drive

IC800SLCS020 Cable, SL Amplifier Serial Communication, 2 Meters

OC647IPWRCLNRNM iPower Option - Run Client

20AD8P0A3AYNACC0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A

20DD052A0EYNANABE PowerFlex 700S AC Drive 52 A 40 Hp 20D

20P41AD052RA0NNN PowerFlex 460V AC 30 HP DC Drive

2711E-ND7M PanelView Enhanced ND7 MED Accessory

280-PWRM24E-M4 ArmorConnect 3-PH Power Media drop cable

NT31-ST121(B) 單色STN LCD 分辨率：320×240點(diǎn), 5.7英寸

1492-MCBA2HA0 100A Miniature Circuit Breaker

1494V-DJX622 NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動(dòng)器 3RW44576BC36

運(yùn)行版軟件 6AV2103-4KX04-0AE5 SIMATIC WinCC V7.0..V7.3 RC 8192 ->WinCC 專業(yè)版 max. PowerTags V14 Combo 和 WinCC RT 專業(yè)版 8192 PowerTags

1585D-M8UGDM-40 Gigabit Ethernet Media

1756-L75 ControlLogix 32 MB Controller

1799-DNETSCON DeviceNet I/O Accessories

194E-FA32E 194E Load switch

2090-CFBM7DD-CEAA25 MP-Series 25m Servo Feedback Cable

2090-SCVP8-0 Kinetix 8-8m Fiber Optic Cable

BC646MPS050 Logic Developer PLC Standard 50 Pack with Proficy GlobalCare Complete

GC647AQC025 GC Quality Client 25 Pak

HMI-COV-203 FRONT SHEET COVER FOR 5 inch (QPJ2xxxx-L2P/ -S2P)/ 20 per pack

IC641VPS350 VersaPro Standard Edition 50 Pack - Windows Programming Software for S eries 90-30 and VersaMax PLCs

IC647IFPLDV00150M iFIX Plus SCADA 150 I/O Development (M4 Part)

IC660ELB910RR GENI B Genius Interface

IC697ACC730 Spare Slot Terminal Strip Retainer (Quantity 1)

IC756WRT499E-27 DV-Tools Runtime Windows, Eng v2.7

FlexLogix System 1794-IP4 4-CHANNEL 12/24V PULSE COUNTER INPUT MODULE

PLC-5/1771 System D6200-6.5.18 PLC5 VOLMTC FLOW CARS/TURBINE+DISPL.METERING UR.ML

Process Control 1757-UPGNX UPGRADE APPLICATION TOOLKIT

Operator Interface 2711P-B12C6B1 PV PLUS 1250, KEY/TOUCH, RIO/DH, AC PS, STD MEM

Support 6001-G1DBS SUPT RENEWAL CONTRACT FOR 6001G1DB

Support 2711-ND2S SUPT RENEWAL CONTRACT FOR 2711ND2

Support F1785-L60LSERC FIRMWARE UPGRADE FOR 1785-L60L PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230PTU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (PT)

RSI Software Products 9701-VWSS100AJPE RSVIEW SE SERVER 100 DISPLAY (JAPANESE)

RSI Software Products 9399-S5MAN MICROLOGIX 1000 AND PLC 500 A I SERIES MANUAL SET

Motion Control 1394C-SJT22-T-RL MODULE,SYSTEM,22KW,IMCS,W/RIO,W/AXIS,LI

BC646MPPS50 Logic Developer - PLC Professional w/1 Yr of SAFE - 50 Seat Site License

IC300OCS082 OCS with 2x20 LCD Display and with 16-key tactpad. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic with ESCP) and 4 In/2 Out Analog, Voltage. With CAN Network.

IC752WNC000 Mature, to be used only with mature Datapanels. For Datapanels 150, 160 and 240E, order DataDesigner, IC752DDZ000. WinCfg - Windows Configuration Tool for Datapanels

MTR-3T24-H-R-B-M-SRR Servo Motor Metric 24V Brake, Seal

ZA66L-6001-0026#L1R003 A22/3000HVi & A12/4000HVis & A22/4000HVis, Fiber Optic Cable (Sheathed) 1M

20DB015A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ALC460AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-B032N104 PowerFlex 525 7.5kW (10Hp) AC Drive

2711PC-T6C20D8 Panel View Plus 6 600 Ethernet RS232

6SE6420-2UD13-7AA1 0.37KW

1492-L3T-G IEC Term Blck 5.1x64.5x31.3mm Spr Clp

1494C-DJ622-A4-B-D-E-F-G 200 A Flange Mtd Cable Switch

軟啟動(dòng)器 3RW44271BC35

備品備件 6ES7 528-0AA00-7AA0 35 mm I/O 模塊前蓋板 5 片 / 包

1585BT-M8UBBM-5 1585 Ethernet Media Patchcord

1747-DU501 SLC 5/05 Firmware Upgrade Kit

1790D-T8BV8V CompactBlock LDX 16 Point Base Block

194E-A63-1753-6G 63 A 194E Load switch

20-VB00448 FEEDBACK INTERFACE BOARD

2090-CSWM1DE-14AA09 Kinetix Cable Single DSL 2090-Series

20AC072A3AYNANC0 PowerFlex 70 AC Drive 72 A at 37 kW 20A

GC646MDB075 Proficy GlobalCare Complete for Logic Developer PC w/Runtime 75 I/O

HE693BZL300 Mounting bezel for full-sized OIUs.

IC600PM548RR High Capacity I/O Rack Power Supply, 125Vdc

IC647HSTESEO30KM eSignature Option for Historian - Enterprise Server 30000 Points (M4 Key)

IC655MDL555RR 12-24Vdc Output, Positive Logic (16 points)

IC694MDL390 Output module 120/240VAC 2 amps 5 point isolated.

IC756URT009 Unix DV Tools Runtime 2-9, Per User

MicroLogix 1500/1769 System 1769-IF4 4 CHANNNEL ANALOG CURRENT/VOLTAGE INPUT MODULE

PLC-5/1771 System 1771-CX15 PLC-5 LOCAL CABLE

Distributed I/O 1797-BIC IS BUS ISOLATOR - CABLE

Communications D1785-6.8.3 REF.GUIDE CONFIG.COMPLEMT

Support 9313-PLC3S SUPT RENEWAL CONTRACT FOR 9313PLC3

Support 9358-CTSRVENR SUPT REINSTATEMENT CONTRACT FOR 9358CTSRVEN

Support F1771-QDSERA FIRMWARE UPGRADE FOR 1771-QD I/O MODULE

RSI Software Products 9324-RLD2U3ESE RSLOGIX 5000 MINI TO STD UP, ESP

RSI Software Products 9304-WTD301D RSTREND WITH WINTELLIGENT LINX

RSI Software Products 9358-PLTM2400U3 UPGRADE: IN-SUPT: PLANTMETRICS 25 TO 50 WORKCELL

Motion Control 8720SM-045S5NAS2 45 KW/93 AMP, 750VDC, AC MOTOR WITH SRM60 ENC.

995-2-0 Thumbwheel Assembly. 2 Digit. 0 True. Dust Seal

IC200TBX010 Tool box, 10 point, (IC200NDR001) DC In/Relay Out, DC Power Supply With software, manuals and cables (IC640VPS002)

IC698ACC720 RX7i Shielded Double Slot Faceplate (Package of 6)

MTR-1337-N-D-E-0RR Stepping Motor Nema34

ZA06B-0075-B503 B8/3000is servo motor with 24 VDC brake and 128k serial encoder

20BD180A3ANNAND0 PowerFlex 700 AC Drive 20B

20G11RC2P1JA0NNNNN PowerFlex 755 AC Packaged Drive

25-EMC1-FC PowerFlex 520 Frame C EMC Plate

140XTS00212 Quantum CABLEFAST電纜, 帶 QUANTUM I/O 端子, 3.7M

294E-FD4P2Z-G1 Variable Frequency Drive

D4NA-412G 觸點(diǎn):1開/1閉,10A 250VAC機(jī)械壽命:1000萬次 可調(diào)滾珠擺桿型（金屬擺桿、樹脂滾珠）

1492-SPM3C040-N MCB Supplementary Protector 4 A

軟啟動(dòng)器 3RW40362BB14

數(shù)字量輸出模 6ES7 222-1BF32-0XB0 SM1222DQ 8 x 24 V DC

150-FPP43B SMC Flex Repair Part

1734-OB8S 8 Channel Safety Sourcing Output Module

1783-HMS8TG4CGN Stratix 5400 12 Port Managed Switch

193-ESM-I-30A-T E300/E200 30 Amp Sensing Module

20-750-FLNG4-F6 PowerFlex 750 Frame 6 Flange Adaptor

2090-CPWM7DF-14AF01 MP-Series 1 m Length Power Cable

2098-DSD-HV050-DN Ultra 3000 Servo Drive

GA646PCMS25 GlobalCare Assist for Change Management Electronic Signature Module 25 Pack

GP-0602NT-F13SB GagePort LVDT NT (Full Bridge for Schaevitz LBB 100 Series) - Sales BO M.

IC5002CAC0002 12in Intelligence PanelClient w/ CIMP TS

IC647HSTAE100KM Alarm and Events Option for Historian - Standard Server 100000 Points (M4 Key)