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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(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(lái)，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(lái)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(lái)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)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(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(cāng)庫(kù)、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(lái)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(lái)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)/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(wú)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I(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(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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Motion Control MPL-B540K-SK22AA MOTOR,SERVO,19.4 NM,4000RPM,SINGL,460V,16.5KG

Motion Control 2090-UCSR-A300 ACTIVE SHUNT REGULATOR,ULTRA 300W

GQPL2D200C2P QUICKPANEL COLOR 12.1" TFT GE LABEL

IC646MSP005 Logic Developer - State Professional 5 Pack

MTR-3T44-J-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1218 STXi b module 8 points, Positive Logic, 12V/ 24VDC

SCXI-1104C

ISA接口 3440522410

886LCD/ATX F845G

MS-9128

A812PG

PSC-486

1492-RCDA2C25 Residual Current Device 25 A

存儲(chǔ)卡 6ES7952-1KL00-0AA0 FEPROM 存儲(chǔ)卡， 2M

變送器 3RS11211DW30

1497-G-AXSX-3-N Control Circuit Transber

1606-XLBUFFER 1606 1606-XL Buffer Module Power Supply

1762-OB32T MicroLogix 32 Point D/O Module

188-K3D040 Miniature Circuit Breaker 4 A

194L-HC4L-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA30 MP-Series 30m Power and Brake Cable

2090-XXNPMF-10S60 Kinetix Drives 60m Standard Cable

BC647TPD700 CIMPLICITY HMI ProServer 700 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE100 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 100 Users Ver 3.0

IC200MDL741LT OUTPUT 24VDC POS LOGIC 0.5A PER PT (1 GROUP OF 16) W/ESCP 16PT (LT)

IC646PEW100 OpenProcess Engineering Workstation

IC647MRA700 View Runtime 700 I/O with USB Hardware key

IC677DBO085 Profibus VersaMax IP Modular slave with (8) 24VDC outputs

IC697RCM711 Hot Standby Redundancy Communications Module

IC800SSI216RP2RR 16A, 230V, Profibus S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-L531 SLC 5/03,WITH 8K USER INSTRUCTION CAPACITY

Industrial Computers 6181H-15TS2KH VERSAVIEW 15" DISPLAY COMPUTER HAZARDOUS LOCATIONS

Application-specific products 9358-PBA10ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 10 UNITS

Operator Interface 2711-B5A9 PV550 MONO KEY&TOUCH, RS232 (DH485) & RS232 PRINT

Support 9303-3CS0EFFS SUPP RENEWAL CNTRCT FOR 9303-3CS0EFF

Support 9391-SDVEKS 9391-SDVEK SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 2711-K5A15L2 PV550 MONOCHROME KEY, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOU3 RSVIEW32 WORKS 300-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9358-BEBNT30ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 30 UNITS

Motion Control MPL-A4540C-HK22AA MOTOR,SERVO,10.2NM,1500RPM,ENCDR,230V,9.5KG

Motion Control 2090-XXNFMP-S15 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,15M

CBL-OIJR-12-RA Serial Cable, Operator Interface Panel (OIP) to S2K, Rt. Ang, 12 Ft.

IC641PCC010 Toolkit for integration of Visual Basic Applications

IC800SLT004 SL Amplifier Breakout Terminal Block for Third Party Controller Interface

PR-PAT-ABB01 Proficy PAT - Driver For Ethernet-Coupled Abb Bomem Ftir Spectrometers

PXI-6052E

PCA-6113P4R

080-0190-02-A

PC-612304

84G3711

SP-320-24

1492-MR6X8 IEC 6 x 8 mm Marker Card

1495-J6 CONTACT,AUXILIARY FOR STRTOR CONTACTOR

行程開關(guān) 3SE53120SB11

運(yùn)行版軟件 6AV2105-0FA04-0AA0 SIMATIC WinCC Runtime 專業(yè)版 2048 PowerTags V14

1585J-M4TBJM-3 RJ45 Ethernet Media

1756-OF4 ControlLogix 4 Point A/O I or V Module

188-K1C020-N Miniature Circuit Breaker 2 A

194E-G3707 194E 52 mm Metal Load Switch Shaft

2090-CFBM7DF-CEAA01 MP-Series 1m Servo Feedback Cable

2090-UXBK-D1501 Ultra series 1m Cable Breakout Board Kit

BC646OEM0401 OEM Edge Renewal - Historian

GC647DMS001 GC DataMart 1 PA Connection

IC200ALG261 Analog b 15 bit differential voltage 8 channel

IC646IFCLNTCRO010C iFIX iClient Read Only 10 PK Keyless (M1Component Part)

IC647IFPLSRUNLMTC iFIX Plus SCADA Unlimited Server (M1Component Part)

IC660MLD120 Label for IC660BBD120 (Qty 100)

IC697BEM731RR Series 90-70 Genius I/O Bus Controller

IC800APK080 SVU1-80 Alpha series 80 amp amplifier kit

ControlLogix/1756 System 1756-L55M13 LOGIX5555 PROCESSOR WITH 1.5MBYTE MEMORY

Industrial Computers 6182H-7BEH4B VVCE 700, KEY/TOUCH, EXT MEM, ENET, AC

Process Control 9358-BHIST01ENE RSBIZWARE BATCHHISTORIAN - 3 UNITS

Operator Interface 2711P-B15C6B2 PV PLUS 1500, KEY/TOUCH, RIO/DH, AC PS, EXT MEM

Support 9240-MON16R SUPT REINSTATEMENT CONTRACT FOR 9240MON16

Support 6310-MSS 6310-MS SOFTWARE SUPPORT RENEWAL

Support F1794-ACNR15SERB FIRMWARE UPGRADE FOR 1794-ACNR15 I/O MODULE

RSI Software Products 9301-2SE2350U3 UPGRADE: IN-SUPT: RSVIEW32 WORKS 1500 TO 5000

RSI Software Products 9351-DKTSRT INTERCHANGE SOFTWARE FOR MS-DOS RUNTIME

RSI Software Products 9399-WGGUG RSSERVER FOR GE FANUC GENIUS I/O USER GUIDE

Motion Control 8720MC-MCM SPARE MAIN CONTROL MODULE KIT

BC646MRD300 Logic PC Runtime (HRT) 300 I/O

IC300RCS210 Remote Control Station (OCS without Keypad and display) Supports up to 4 SmartStack I/O Boards, full ladder instruction set, and CsCAN Networking.

IC754VKB06MTD Starter Kit - 6" Monochrome QuickPanel View Basic, Touch, 24VDC