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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。
 

20AC2P1C0NYNANC0 PowerFlex 70 AC Drive 20A

CBL-3T-MB-30 Power/brake cable for MTR-3T50 or MTR-3T60 series servo motors. 30 feet

GF-4130R Connecting FlashCable to Dupont, Nova Ultrasonic.

IC210BDD012 24V DC Power Source, (6) 24VDC in/(4) out (Transistor) , (2) analog inputs, Expandable, without LCD/Keypad

IC647HSTAE40KM Alarm and Events Option for Historian - Standard Server 40000 Points (M4 Key)

IC660EBA020 Electronic Assembly for IC660BBA020

IC693MDL340LT 120 Vac Output, 0.5 Amp (16 Points) (LT)

IC756WDC009E-22 DV Development Sys VB, Java, C++, English, Version 2.2

IC800VMCE050 Encoder cable for 100 W to 750 W VersaMotion servo motors- 5 meter

SLC/1746 System 1746-OB6EI ELECTRONICALLY PROTECTED DC OUTPUT MODULE

Industrial Computers 6155R-NS2KH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SDM DIE MONITORING SOFTWARE FOR THE SLC

Operator Interface 2711-B6C14 PV600 COLOR KEY&TOUCH, MBUS & RS232 PRINT

Support 9301-2SE2300JPS SUPT RENEWAL CONTRACT FOR 93012SE2300JP

Support 9307-EM10K3PXR SUPT REINSTATEMENT CONTRACT FOR 9307EM10K3PXENE

DeviceNet Products 1734D-IA8XOA8 120 VAC 8 IN 8 OUT, DNET COMMS, SCREW

RSI Software Products 9301-2SE250KOU1R RSVIEW32 WORKS 32K-100K UPGRADE OUT-SUPT (KO)

RSI Software Products 9358-BNT30U1 UPGRADE: IN-SUPT: RSBATCH 03 TO 30

Motion Control MPL-B320P-RJ24AA MOTOR,SERVO,2.94 NM,5000RPM,RSLVR,460V,BRK,5.9KG

Motion Control 2090-K6CK-D15M CONNECTOR, MOTOR FDBK, D-SHELL/TERM BLOCK, 15 PIN

GFK-0484 Series 90-70 Demo Case User's Manual

IC641VPS300 VersaPro - Windows Programming Software for Series 90-3- and VersaMax PLCs

MSC-LI Obsolete - Loop Isolator 4-20 mA In / 4-20 mA out

PSPC-DC5 Prof Shop Floor SPC DC 5 User

20BC011A3AYYADC0 PowerFlex 700 AC Drive 20B

20DR180A0ENNANANE PowerFlex 700S AC Drive 20D

2198-H070-ERS2 KINETIX 5500 SERVO DRIVE

2711P-RAT12E PanelView Plus Accessory

280-PWRM35G-M8 ArmorStart Three-Phase Power Media

CQM1-ME08K EEPROM 8K字

1492-N16 TERM BLCK End Barrier WHT

通讯处理器CP 6ES7 870-1AB01-0YA0 ModbusRTU 从站，包含软件和单授权

行程开关 3SE53221SF21

TIA 博途 WinCC 选件 6AV2107-0KE00-0BB0 SIMATIC WinCC WebNavigator for Runtime Professional 5 Clients

1585J-M8HBJM-10 RJ45 Ethernet Media

1757-SRC3 System Redundancy Module

188-K2B060 6 A Miniature Circuit Breaker

194E-Y63-1756-6G 63 A 194E Load switch

2090-CHBIFS8-12AA09 Kinetix 6000M IPIM Hybrid Cable

2090-UXNPBMP-8S09 MP-Series 9 m Length Power Cable

BC647MDA000 View Development/Runtime 8000 I/O with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDVUNLMT GCC iFIX Profsnl SCADA Unlmt Dev

IC200CHS005 I/O carrier spring style

IC646MQPU01 Machine Edition View for Quick Panel 1 user Upgrade from QuickDesigner

IC647IFSTDV00300C iFIX Standard HMI 300 I/O Development (M1Component Part)

IC670ALG330RR Analog Output Current 8 Channel

IC697CPX772 CPU, 96 MHz, 2K Discrete I/O, 512K byte fixed user memory

IC800SKCBV100 Power/brake cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor connected to an S2K. 10 meters

ControlLogix/1756 System 1756-IF6CIS ISOLATED ANALOG IN-CURRENT SOURCING 6 PTS (20 PIN)

Industrial Computers 6182H-10TEH4B VVCE 1000, TOUCH, EXT MEM, ENET, AC

Process Control 1757-FIMUL050 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDT12C PV PLUS 1250, TOUCH SCREEN MODULE

Support 9355-WABESS SUPT RENEWAL CONTRACT FOR 9355WABES

Support 9351-WKTSRTS SUPT RENEWAL CONTRACT FOR 9351WKTSRT

ControlNet Products 1784-DPC1 1784-KTCX KT EMULATION DUALPORT TOOLKIT

RSI Software Products 9301-2SE2400JPE RSVIEW32 WORKS 32K (JAPANESE)

RSI Software Products 9355-WABOEU1R UPGRADE: OUT-SUPT: 9351WES TO RSLINX OEM CD

Motion Control MPL-A320P-MJ24AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,230V,BRK,5.1KG

Motion Control 2090-U3CC-D4401 CABLE,CONTROLLER INTERFACE,ULTRA 3000,CN1,1M

CBL-126 Cable. SIEMENS S5 Prog. Port (Current Loop)

IC600CP624RR 19" Series Six Plus CPU 24Vdc Power Supply (11 Slots)

IC800SDM100M2XE25 1000W, 230V S-Series Servo Motor, 43 in-lb (4.8 Nm), Brake

OC647IFESGDVUNLMTM iFIX Optn: ESig & ERec Unl I/O Development (M4 Part)

20AD034A3AYNADC0 PowerFlex 70 AC Drive 34 A at 25 Hp 20A

20DC460A3ENNBNANE PowerFlex 700S AC Drive 20D

20LC360N3ENNAE11WA PowerFlex 700L AC Drive 20L

26152-103-02-R 2.5"CABLE CLAMP & BAR,2C1-250X

280-PWRM22C-M4 ArmorStart Three-Phase Power Media

FX2N-48ET 扩展24入/24出 晶体管输出

1492-M6X12V1-20 Connection Products

1494R-N15 Lug Kit

软启动器 3RW44472BC45

ET 200SP 6ES7193-6LR10-0AA0 标签条，浅灰，一卷500个

1585D-M4TBJM-75 Micro D-Code, QD Style Ethernet Media

1756-IA16IK ControlLogix 16 Point Digital Input

1794-TB32 Flex Terminal Base

194E-E-P22 194E 2 NO-2 NC Auxiliary Contact Block

2090-CDNFDMP-S90 MP-Series 90 m Length Feedback Cable

2090-K60CLAMP-1 Kinetix 6000 Low Profile Connector Kit

AD641OTP308 OnTOP Trouble Shooting Software Module for 90-30 State Logic CPU

GC646PME050 GlobalCare Complete for PCM Machine Edition Version 50 User

HE800CBL012 I/O Extension Cable, 12-pin, 0.5m. For use in conjunction with TRM512

IC640HWC716 LM 90-70 Enet TCP/IP for Win 95/98/NT w/ cables, CD docs

IC647HSTSSEO20KM eSignature Option for Historian - Standard Server 20000 Points (M4 Key)

IC660BLS101 Cover w/Label for IC660BBS101

IC695CPE310CA Conformal Coated. CPE310 2 slot CPU, 1.1Ghz processor,10 Meg memory, 1 RS-232 port, 1 RS- 485 port,1 Ethernet port (SRTP programmer support only) and USB master port for application upload/download only.Replacement for IC695CPU310. CPE310 ships with

IC756WET200E-99 Custom Datasource Toolkit, English, Version 9.9

CompactLogix System 1769-RL1 REPLACEMENT DOOR LABELS FOR DISC. I/O (2 PER KIT)

PLC-5/1771 System D1771-6.5.126 REF MANUAL PLASTIC MOLDIN

Process Control 1757-PLXCGX200 DELL PROCESSLOGIX SERVER

Operator Interface 2711P-K7C15D1 PV PLUS 700, KEYPAD, CNET, DC PS, STD MEM

Support 6556-SCBS SUPPORT RENEWAL CONTRACT FOR 6556-SCB

Support 9358-SCHVWENR SUPT REINSTATEMENT CONTRACT FOR 9358SCHVWEN

Support F1785-KESERB FIRMWARE UPGRADE FOR 1785-KE COMMUNICATION MODULE

RSI Software Products 9301-2SE2203DEE RSVIEW32 WORKS 300 WITH RSLINX (GERMAN)

RSI Software Products 9701-VWSB025AENE RSVIEW SE STATION 25 DISPLAY

RSI Software Products 9399-EDSDUG RSWIRE DETAILER SYSTEM MANUAL

Motion Control 2098-DSD-020X-DN DRIVE, 10A/30A, ULTRA3000 W/DEVICENET/INDEX

BC5005TAX0000 15" Bundled Intelligence Industrial Computer with WIN XP Standard Series

IC300DAC002 2 channel Analog Outputs, Current (4-20mA), 14 bit

IC752ECD400RR Display Station 1462 - 14" VGA (640x480) resistive touch screen, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-3S45-G-R-0-C-SRR Servo Motor Nema56C with Seal

ZA06B-6089-K250 24 VDC control power fuse for Alpha SVU series amplifier

20BF119A0ANNANC0 PowerFlex 700 AC Drive 20B

20G14TD430AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-A011N104 PowerFlex 523 2.2kW (3Hp) AC Drive

2711P-T10C22D9P PanelView Plus 7 Graphic Terminal

FRN110P11S-4CX 160KVA 210A 110KW 3相AC380V/50Hz/60Hz

1492-JD3PTP IEC 2-Ckt Feed-Through Blk,Plug-In,2.5mm

1492-W4-BL IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW40762BB35

安全 CPU 模块 6ES7 511-1FK01-0AB0 SIMATIC S7-1500F，CPU 1511F-1 PN，中央控制单元，工作存储器 225KB，1MB 数据

156-B25CB2 25 A Contactor

1746-HT IMC 110 Termination Panel

1786-TCAP ControlNet Media Dummy Load Connector

193-T1AC21 17.5-21.5 A IEC Bimetallic Ovld Relay

20-FR10823 PF700H/S Rect. Assy 400V/600V FR10-12

2090-CSBM1DF-14AA13 Kinetix Cable Single DSL 2090-Series

20AC015A3AYNAEG0 PowerFlex 70 AC Drive 20A

GA647TPR000 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer No Limit Runtime System

GP647IFPRSRUNLMT GCP iFIX Profsnl SCADA Unlmt Srv

IC600CB513RR Auxiliary I/O Control Module

IC647HSTCS500KM Historian Enterprise Corporate Server 500000 Points (M4 Key)

IC647TSSRV050 Proficy Troubleshooter 50 User Server License

IC693PWR331RR Power Supply, 24 Vdc, High Capacity

IC756RDV000J-97 DV Development - Irix Op Sys, Japanese, Version 9.7

MicroLogix 1000/1761 System 1761-RPL-RT00 REPLACEMENT DNET TERM BLK FOR 1761-NET-DNI

PLC-5/1771 System 1771-OFE3 ANALOG OUTPUT MODULE

Distributed I/O 1794-FLA FLEX LOGIX FLEXBUS2 LOCAL I/0 ADAPTER

Communications 9355-WABENE RSLINX PROFESSIONAL - ENGLISH

Operator Interface D6190-6.5.6DE CONTROLVIEW TRENDING USER MANUAL (GERMAN)

Support 9358-BBKEY10S SUPT RENEWAL CONTRACT FOR 9358BNTK10ENE

Support 9392-TRCDRSENE TECH REFERENCE CD COLLECTION (DATADISC & KNOWBASE)

RSI Software Products 9324-RL01U3FRE UPGRADE: IN-SUPT: FRENCH RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500ZHU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (ZH)

RSI Software Products 9356-STD2350U3R UPGRADE: OUT-SUPT: RSSQL STD 1500 TO STD 5000 TAG

Motion Control Y-2006-1-H04AA MOTOR,SERVO,0.69 NM,4500RPM,ENCDR,115V,BRK,2.36KG

5209A Message Display. 2 Line. 11MM. Green VFD. ASCII/Serial Interface. NEMA 4

IC200CPU005 CPU WITH CONFIGURABLE USER MEMORY 0.8 MSEC/K BOOLEAN ONE RS232 SERIAL PORT ONE RS485 SERIAL PORT

IC694MDL940 OUTPUT MODULE RELAY 2AMP 16 POINTS

MSI-WEB-5 Web or Excel Reporting Clients 5 Pack

VSPCSE-MAN Printed Manuals for VisualSPC SE.

20BD052A3AYNANA0 PowerFlex 700 AC Drive 52 A 40 Hp 20B

20G11LD1K0AN0NNNNN PowerFlex 755 AC Packaged Drive

22D-E4P2N104 PowerFlex 40P- 2.2 kW (3 HP) AC Drive

467NHP81100 Quantum 467 NHP 811 00-PC/DP包

291D-FAZ-G3-3FR Direct Online Reversing Starte

G3NA-210B 固态继电器 额定电压5-24VDC,负载AC24-240V 10A

1492-SPM2D020 MCB Supplementary Protector 2 A

软启动器 3RW30372BB04

电机启动器 3VU16400CK00

150-F25NBDB SMC Flex Smart Motor Controller

1732E-16CFGM12R ArmorBlock 16 Point Configurable

1771-P7 1771 Power Supply

193-EEEP E1 Plus 5.4-27 A IEC Overload Relay

199-MSMV3 Surge Suppressor

2090-CPWM7DF-08AF09 9 m Length SpeedTec Pwr and Brake Cable

2097-PGMR Kinetix 300/350 Memory Module Programmer

ENHSAURR8 Waterproof Machine Mount, 8 Port Switch

GFK-1535 Manual VersaMax Genius Network Communications

IC220ALG321 ANALOG OUT, 16 BIT, VOLTAGE, 1CH (REQUIRES 1 IC220TBK061)

IC647CSAS00 SAIC CIMPLICITY Server Site License (For SAIC Only)

IC647PRTPRFYM Proficy Portal SQL Connector for use with other Proficy products (M4 Key)

IC693LBR301 90-30 Documentation Library (paper manuals covering most options)

IC756ADV010E-97 DV Draw Development on AIX Op Sys, English, Version 9.7

MSI-MAINT-UNL 7 Day x 24 Hour Support

PLC-5/1771 System

Distributed I/O 1738-OV4EM12 24VDC 4 SINKING OUTPUTS WITH M12 CONNECTORS

Communications 1785-KA5 COMMUNICATION MODULE DATA HWY PLUS TO DATA HWY 485

Operator Interface 2711-NV3T ANTIGLARE OVERLAY PV900 TOUCH

Support 9302-SMDS SUPT RENEWAL CONTRACT FOR 9302SMD

Support 9324-RL5300PTS SUPT RENEWAL CONTRACT FOR 9324RL5300PT

DeviceNet Products 2706-P72CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE335ESU2R RSVIEW32 RUNTIME 300-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9371-EDES1 RSWIRE DESIGNER JIC STAND ALONE

Motion Control MPG-A025-031S24 MOTOR,SERVO,GEAR RATIO 31,100NM,168RPM,SINGL,BRK

Silver Series 1789-SL52 SOFTLOGIX5 NT-BASED CONTROLLER, 2 COMM CHANNELS

HE693RTD660 6 channel RTD input module for Series 90-30 with 700VDC bus-isolation and 0.05癈 resolution.

IC670ALG230 Analog Input Current 8 Pt. Grouped

QPICTAE0000 10.4" Color TFT, TCP, Ethernet, CF Card, 110VAC

ST-5422 STXi PWM Out module, 2A/24V, Source, 2 Channels 2.5Khz

20BC205A0AYNANC1 PowerFlex 700 AC Drive 20B

20F1ANC170AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-A8P0N104 PowerFlex 40- 1.5 kW (2 HP) AC Drive

140DDI84100 Quantum 开关量 DC 输入, 16点, 10-60 VDC, 8组隔离

284D-FVD4P0D-10-CR-EMI DeviceNet Variable Frequency Drive

E3S-DS30E4 30cm,扩散反射式,晶体管输出80mA, 电源:12-24VDC

1492-SM5X10 IEC 5 x 10 mm Marker Card

人机界面 6AV6542-0AG10-0AX0 MP270B 键控，256 色，10.4 英寸，640? 480

6ES73311KF024AB1

1497B-A3-M12-0-N Control Power Transformer

1606-XLS480EC AC or DC In 24 to 28VDC Out 480W CC PS

1769-IF4 CompactLogix 4 Pt A/I C and V Module

189-ALOA2 MCB Accessory Lockout Attachment

194R-HM4 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA01 MP-Series 1m Standard Cable

2090-XXNPMP-16S40 MP-Series 40 m Length Power Cable

CBL-34-MP-20 Power cable for MTR-3N or MTR-3S30 or MTR-3S43-H series servo motors. 20 feet

GF-0220R Connecting FlashCable to Brown & Sharpe Digit Dial, Fowler Ultra Digit , Mahr.

IC200TBX223 Tool box, 23 point, (IC200UAL006) 24VDC In/Relay Out, AC powered (requires AC power), VersaMax SE (IC200SET001) with all software, cables and manuals. (IC640VPS002 and IC646MPM001)

IC646TBSPMPS900 Smart Process Monitoring Process+ server 900 loops

IC647NSL005 Proficy SQL 2005 - 5 Client Access Licenses (order as separate item, not an option)

IC693ACC335 Axis terminal block for the DSM302 or DSM314

IC752CBT003RR Datapanel 320T MB (Mono Base) with Advanced software: 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With Real Time Trends & H ost Communications.

IC800VMCP200 Power cable for 100 W to 750 W VersaMotion servo motors- 20 meter

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