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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?，F(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)/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個轉(zhuǎn)向伺服電機(jī)，從而控制4個車輪的轉(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，還是需要一定的時間。因?yàn)楦咝阅芄I(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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Motion Control MPL-A4540F-MK24AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,230V,BRK,13KG

Motion Control 2090-XXNFY-S30 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,30M

GABI3D200C2P/AR QUICKPANEL 10.5" TFT W/AB RIO 24VDC GE LABEL

IC641SWC313 Logicmaster 90-30 TCP/IP-Ethernet, Cable & CDROM

IC800SSI107D2 7.2 Amp S2K Series Servo Amplifier/Controller with DeviceNet, 115/230 VAC

PSPC-ADMIN/E Prof Shop Floor SPC Admin 1 User w/ eSig

20BB052A0AYNANC0 PowerFlex 700 AC Drive 52 A 20 Hp 20B

20DE125A0ENNANANE PowerFlex 700S AC Drive 20D

2198-BARCON-100DC200 Kinetix 5700 100mm DC Bus Bar

2711P-K15C4A9 PanelView Plus Terminal

280-PWRM35D-M15 ArmorConnect 3-PH Power Media trnk cable

CPM2A-60CDR-D 60點(diǎn)主機(jī) DC24V 36點(diǎn)入24點(diǎn)繼電器輸出 自帶RS232C口

1492-MS6X12 IEC 6 x 12 mm Marker Card

1495-N74 1-1/2 in. Hub

行程開關(guān) 3SE53120SJ12

運(yùn)行版軟件 6AV2107-0DB14-0AA0 SIMATIC WinCC Client for Runtime 專業(yè)版 ASIA V14

1585J-M4UBJM-3 RJ45 Ethernet Media

1756-PA72 ControlLogix AC Power Supply

188-K1C250 Miniature Circuit Breaker 25 A

194E-KA32E-P11-PE 194E Load switch

2090-CFBM7DF-CEAF03 Kinetix 3m Flexible Cable

2090-UXNBMP-18S09 MP-Series 9 m Length Brake Cable

BC646SPI365 Solution Provider Annual license w/Additional iSuite

GC647IFESGCLNTCDV GCC iFIX Optn: ESig & ERec iClient Dev

IC200ALG331 Analog output 16 bit voltage/current 4 isolated channels

IC646MBT001 Machine Edition Traditional Development Suite

IC647IFPRRN00075C iFIX Profsnl SCADA 75 I/O Runtime (M1Component Part)

IC660SLD024 Red Safety Label Kit for IC660BBD024 Genius Blocks

IC697CHS750RR Series 90-70, 5 Slot Rack, Rear Mount

IC800CBL064 Replaced by cable IC800CBL067

ControlLogix/1756 System 1756-DNB DEVICENET BRIDGE/SCANNER MODULE

Industrial Computers 6182H-7KRH4B VVCE 700, KEYPAD, STD MEM, ENET, AC

Process Control 9358-PBBK03ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 03 UNITS

Operator Interface 2711P-T15C15D2 PV PLUS 1500, TOUCH, CNET, DC PS, EXT MEM

Support 9352-WGG100R SUPT REINSTATEMENT CONTRACT FOR 9352WGG100

Support 9330-CCR SUPT REINSTATEMENT CONTRACT FOR 9330CC

ControlNet Products 1786-CTK CNET RG6 TOOLKIT

RSI Software Products 9301-2SE235ESU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9352-WGG200UR UPGRADE: OUT-SUPT: RSSERVER GE GENIUS 16 TO 32 BIT

Motion Control

Motion Control 2090-DANBT-18S04 CABLE, NON-FLEX, MTR BRK FOR CABLE-MTD CONNS, 04M

BC646SPM365 Solution Provider Annual License w/Additional ME Suite

IC300TRM016 Spring-clamp style I/O plug, 16-terminal

IC800BPK012 12 Amp Beta Series Amplifier Package

MTR-3T69-G-R-B-M-0RR Servo Motor Metric 24V Brake

20AD014A0AYNANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC072A0EYNANANE PowerFlex 700S AC Drive 72 A 37 kW 20D

20G1AND125AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-B062N104 PowerFlex 527 15kW (20Hp) AC Drive

280-MTR22-M4 ArmorConnect Motor Cable

FX1N-24MR-001 主機(jī)14點(diǎn)入/10點(diǎn)出?繼電器輸出?

1492-M3X12 IEC 3 x 12 mm Marker Card

1494G-FF3N NEMA 1494G Enclosed Disconnect

軟啟動器 3RW44436BC45

ET 200SP 6ES7134-6JD00-0CA1 AI 4xRTD/TC 2/3/4 線制 高性能型，基座單元類型 A0、A1

1585D-M4HBDM-5 Micro D-Code, QD Style Ethernet Media

1756-BA2 ControlLogix L6X Ser B ONLY Battery Assy

1794-IM8 Flex 16 Point Digital Input Module

194E-CA20 194E Load switch

2080-MOT-HSC Micro800 250KHz HSC Plug-In

2090-CSWM1DF-18AA21 Kinetix Cable Single DSL 2090-Series

20AC5P0A0AYYANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MRB700 Proficy GlobalCare Complete for Logic PC Runtime 700 I/O

HE693STP101 Discontinued Part. Check with GE IP on migration path.

IC610MDL181RR U.L. Listed Relay Output (5 points)

IC647HSTSS1750KM Historian Standard Server 1,750,000 Points (M4 Key)

IC660BBD120RR Genius High Speed Counter Block

IC695ALG112 Isolated Analog module, 12 individual isolated channels are configurable for voltage and current. Requires high capacity terminal block IC694TBB032 or IC694TBS032.

IC756WDS000E-99 Dataviews Development Suite (All Windows Languages, Custom Editor Tool kit, Custom Datasource Toolkit, 1 yr SAFE), English, Version 9.9

CompactLogix System 1769-OA16 16PT.120/240 VAC OUTPUT

PLC-5/1771 System 1771-EZ EXTENDER, HIGH DENSITY

Distributed I/O 1799-BRKD DIN RAIL BRACKETS WITH SCREWS(2 BRKTS/ 4 SCREWS)

Operator Interface 2711P-K6M20A PV PLUS 600 GRAYSCALE, KEYPAD, ETHERNET, AC PS

Support 9325-L2140S SUPT RENEWAL CONTRACT FOR 9325L2140

Support 9358-PBBK30R SUPT REINSTATEMENT CONTRACT FOR 9358PBBK30ENE

Support F1775-S4ASERA FIRMWARE UPGRADE FOR 1775-S4A PLC3 PROCESSOR MODUL

RSI Software Products 1789-L10 SOFTLOGIX5810 CONTROLLER W/2 USABLE CHASSIS SLOTS

RSI Software Products 9701-VWMR015AJPE RSV ME STATION RT 15 DISP -WINDOWS 2000 (JAPANESE)

RSI Software Products 9330-GC300U1R UPGRADE: OUT-SUPT: RSGUARDIAN CORE 128 TO 4096 NOD

Motion Control 2094-PRS7 POWER RAIL, SLIM, 230V OR 460V, 7 AXIS

A06B-6093-H401 Ext. Regen Resistor, 30 Ohm 20 Watt, Beta or I/O Link Amplifiers

IC200UEX211 28 point expansion. (16) 24VDC In, (12) Relay Out, 120V/240AC Power Supply (includes IC200CBL501)

IC752CMO101 Modicon 984 9 pin cable for DataPanel 30/50

MTR-3N32-G-R-0-M-0-MODRR Servo Motor Nema34 Metric Mod=Connector

ZA06B-0153-B175#7008 A30/3000 servo motor with brake and 64k serial encoder

20BD8P0A0AYYADD1 PowerFlex 700 AC Drive 8 A 5 Hp 20B