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　机器人诞生之日起人们就不断地尝试着说明到底什么是机器人。但随着机器人技术的飞速发展和信息时代的到来，机器人所涵盖的内容越来越丰富，机器人的定义也不断充实和创新。机器人技术作为20世纪人类最伟大的发明之一，自20世纪60年代初问世以来，经历40多年的发展已取得长足的进步。随着近年来制造业的不断发展，工业机器人已成为智能制造和工业自动化的关键技术和重要产品，也是数控机床走向自动化更高阶段的重要一环。

　　随着电子控制技术的不断发展，PLC正向高速度、容量大等物联网及智能通信方向发展，通过物联网，能实现PLC、变频器、远程I/O等与上位机算机进行连接，来构造出一种多级式分布系统。

　　1

　　举个例子

　　三菱工业电机中的CC-Link构建的一种开放性面向现场控制的总线网路系统，DIN是德国工业标准，使用导轨是工业电气元器件的一种安装方式，安装支持此标准的电器元器件可方便地卡在导轨上而无需用螺丝固定，维护也很方便，一般来说，常用的导轨宽度是3.5CM。现如今，很多的电器元器件都有采用这种标准，比如有PLC、断路器、开关、接触器等。

　　工业机器人不是孤立工作的，一个机器人工作站，往往需要外围设备的配合，比如工装夹具、传送带、焊接变位机、移动导轨等等，这些角色相互之间要怎么配合，就需要互相协调。比如AGV小车、自动化立体仓库、喷涂设备、装配设备等等。

　　2

　　工业机器人的自动控制系统

　　1、底层控制器

　　底层控制器作为控制系统的核心，其选择的合适与否对整个系统来说十分重要，其性能直接影响了控制系统的可靠性、数据处理速度、数据采集的实时性等。移动机器人运行环境较恶劣，干扰源众多，对运动控制器的实时性和可靠性要求较高，所以选择一种稳定可靠地运动控制器至关重要，既要满足系统要求，又要具有良好的可扩展性和兼容性。

　　为实现机器人对外部设备的有效控制，底层控制器提供了相应的设备底层控制函数，这些控制函数可以直接访问机器人的硬件寄存器来控制机器人的运行，而这些控制函数可以使得设备驱动程序不再依赖于具体硬件，所以，通过调用控制函数接口就可以实现对机器人的有效控制。

　　2、电气系统

　　在对轮式全向移动机器人控制系统硬件进行选型以后，根据移动机器人的硬件组成进行电气系统设计。移动机器人的电气系统主要包括三个部分：主电路、伺服驱动系统电路和PLC控制系统电路。

　　移动机器人控制系统主电路通过PLC和继电器实现控制。即由继电器由线圈和辅助触点两部分组成。当线圈通电的时候，其对应的常开触点闭合，常闭触点断开。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型为4ms)和I/O数据映像区大小信息，通过软PLC编程系统的工程配置模块进行可视化配置，以适应不同机器人应用程序对I/O设备的不同需求。其主要是机器人将其他信号作为末端执行器I/O使用，末端执行器I/O链接到机器人手臂末端的连接器上，保证其功能。

　　4、PLC程序

　　在底层控制器中，使用编程软件STEP 7 PROFESSIONAL V12的PTO运动控制指令，使用位置控制方式，控制4个转向伺服电机，从而控制4个车轮的转向角；另外，使用扩展模拟量输出模块输出电压值，控制4个轮毅电机，驱动机器人运动。排除硬件的因素外，程序的好坏直接决定着运动性能的高。因此程序的编写是整个设计中最为重要的环节之一。

　　3

　　PLC要满足工业机器人的高性能要求还有待改善

　　机器人控制器可以理解为完成机器人控制功能的结构实现，因此机器人控制器是机器人最为核心的“心脏”，它从一定程度上影响着机器人的发展，高性能的工业机器人不单要实现PTP控制，而且还要实现CP控制。虽然说，采用基于PC的运动控制器和基于DSP运动控制器能够实现机器人的运动控制，但是却无法满足高性能工业机器人的各项要求指标，而电路设计以及编程相当复杂，因此，PLC的控制接线完善和技术创新是一大难题。

　　PLC控制接线简单，只要通过运动控制指令就能实现对机器人的运动控制，因此，PLC想要在机器人多轴运动协调控制、网络通讯方面取得优势，还是需要一定的时间。因为高性能工业机器人主要是各关节的驱动运动，不单单是实现PTP、CP的控制，还要达到在多轴协调控制、速度、加速度、运动精度等方面的要求。

　　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强大；等西门子公司的PLC虽然具备运动控制的功能，但远远不及MITSUBISHI PLC，因为MITSUBISHI PLC结合物联网及高科技术，使之具有完整的运动控制功能，通过高速度的背板，处理器与伺服接口模块可以进行通讯，从而实现高度的集成操作及位置环和速度环的闭环控制。达到从简单的点到点的运动到复杂的齿轮传动，来满足高性能工业机器人的要求。
 

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RSI Software Products 9301-2SE2200KOE RSVIEW32 WORKS 300 (KOREAN)

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Motion Control MPG-B010-031M24 MOTOR,SERVO,GEAR RATIO 31,25NM,208RPM,MULTI,BRK

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HE693SNP306 Molded SNP-to-RS232 adapter plus cable for PC 9-pin serial port (includes LEDs)

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140DSI35300 Quantum 开关量输出, 32点,4组

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6ES73317NF004AB1

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GFK-0776 SS-90 Digital 100/200 Brushless Servo Amplifier Instruction Manual

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BC647MRA075 View Runtime 75 I/O with Proficy GlobalCare Complete with USB Hardware key

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IC646NCL000 Action Calender

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IC800SLCAPM030 Control cable to connect the SL servo amplifier terminal block to an APM300 motion controller module. 3 meters

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ControlNet Products 1734-IV4 24V DC 4 CHANNEL SOURCE INPUT MODULE

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IC600WD050 I/O Cable, 50 feet (15m)

IC800SKCPV050 Power Cable, S2K to 1-2.5kW S-Series Servo Motors, 5 Meters

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MTR-3S65-G-R-0-E-S-MODRR Servo Motor with Seal with 2nd Encoder Fdbk

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25A-CTM1 PowerFlex 523 Control Module

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Operator Interface D6195-6.5.6 CONTROLVIEW BUILDER SPC CONFIG. USER MANUAL

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990NAD23021 Quantum Modbus Plus Super Tap

294D-FD1P5P-G1 Variable Frequency Drive

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电机启动器 3VU16402CJ00

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GFK-2028 Datapanel Models 150/160 and 240E Operator's Manual

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IC647DMB001 DataMart BI Connector

IC647PWR001 Proficy Power SCADA for Small Substation

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PLC-5/1771 System 1785-L80B PLC-5/80 CONTROLLER, 100K WORD SRAM

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DeviceNet Products 2711-K6C10 PV600 COLOR KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE3400 RSVIEW32 RUNTIME 32K

RSI Software Products 9371-EDETIAC RSWIRE DETAILER/IEC FOR AUTOCAD 14-14.01

Motion Control MPG-B025-091S24 MOTOR,SERVO,GEAR RATIO 91,100NM,65RPM,SINGL,BRK

Silver Series 2711-T14C3 PV1400 COLOR TOUCH, DH485 & RS232 PRINT

HE693STP310 Three Axis (multiplexed) indexer module w/1 axis incr. encoder feedback

IC670MDL642 125VDC Pos./Neg. Logic Input 16 Pt. Grouped

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ST-8371 STXi numbered markers 100 pieces

20BC2P1A3AYNADC0 PowerFlex 700 AC Drive 20B

20F1ANC456AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-B5P0F104 PowerFlex 40 0.75 kW (1 Hp) AC Drive

140DDO15310C Quantum 开关量DC输出,32点,5VDC,4组隔离,0.5A/点,C

284D-FVD7P6Z-25-CR DeviceNet Variable Frequency Drive

E3S-X3CE4 光纤放大器, 晶体管输出 NPN 80mA, 电源:12-24VDC

1492-SPM1B080-N MCB Supplementary Protector 8 A

直流电源 6EP1321-1SH02 100/240VAC 输入，12VDC/1.9A 输出

6ES78221AA000YL5

1497D-A11-M21-0-N 1En Purpose Transformer

1606-XLSBATBR1 1606 Power Supply

1769-L24ER-QB1B CompactLogix 750KB DI/O Controller

190E-AND2-CB40C 2.5-4.0 A Economy Starter W/Ckt-Bkr

194R-J60-1753-PYN2 194R Disconnect Switch

2090-CPBM7DF-14AF09 MP-Series 9m Continuous-Flex Cable

2090-XXNPT-16S07 Kinetix Drives 07m Standard Cable

CBL-3T-MP-10 Power cable for MTR-3T50 or MTR-3T60 series servo motors. 10 feet

GF-0912R Connecting FlashCable to Fowler Sylvac, Metronics, Mettler, Omega, Tol edo.

IC200UAL006 23 point PLC,(13) 24VDC In, (9) Relay Out, (1) 24VDC Out, (2) Analog I n and (1) Analog Out, 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC646TDV150 150 I/O Point Development System

IC647NWV025 CIMPLICITY HMI WebView 25 User