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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。
 

BC646MPS010 Logic Developer PLC Standard 10 Pack with Proficy GlobalCare Complete

GA647IFSTDV00075 GCA iFIX Std HMI 75 I/O Dev

IC200ALG432 Analog mixed 12bit, +/-10VDC 4 channel in and +/-10VDC 2 channel out

IC610CCM111RR I/O Link Remote Module

IC646TPR075 ProServer 75 I/O Point Runtime System

IC647PCMS50 Proficy Change Management Electronic Signature Option - 50 Concurrent Users

IC693MDL330LT 120/240 Vac Output, 2 Amp (8 Points) (LT)

IC756URT100 Unix DV Tools Runtime 100+, Per User

IC800VMCB3050 Motor power and brake power cable for 3 kW VersaMotion servo motor- 5 meter

SLC/1746 System 1746-OB16 DC OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-7S2KH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBM SLC PROGRAMMABLE PRESS CONTROL KIT

Operator Interface 2711-B6C1 PV600 COLOR KEY&TOUCH, RIO & RS232 PRINT

Support 9301-2SE2300FRS SUPT RENEWAL CONTRACT FOR 93012SE2300F

Support 9307-8MGDBCR SUPT REINSTATEMENT CONTRACT FOR 93078MGDBCENE

DeviceNet Products 1734-ADNX 24V DC DEVICENET ADAPTER WITH SUBNET EXPANSION

RSI Software Products 9301-2SE250JPU2R RSVIEW32 WORKS 1500-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BNT10U1R UPGRADE: OUT-SUPT: RSBATCH 03 TO 10

Motion Control MPL-B320P-MJ24AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,460V,BRK,5.1KG

Motion Control 2090-XXNPY-16S20 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,20M

GFK-0402 Hand-Held Programmer Series 90-30/20/Micro Prog. Control User's Manual

IC641VPP750 VersaPro Professional Edition 50 Pack - Windows Programming Software for Series 90-70, Series 90-30, and VersaMax PLCs

MSC-C-C Obsolete- 4-20 mA in / 4-20 mA out

PSPC-DC25/E-220 Prof Shop Floor SPC DC 25 User eSig 220v

PXI-8432/4

61-600695-000

iBASE IB500

BPS-250MA2

GVPC3

MB896F-R

1492-MW9X24 IEC 9 x 24 mm Cable Marker Card

通讯处理器CP 6ES7 341-1AH01-0AE0 CP341，标准串行通讯模块，RS232C 接口，最高76.8kbit/s,9 针Sub-D 型接口,可加载 ModbusRTU及 DataHighway 驱动

行程开关 3SE53220SJ23

TIA 博途 WinCC 选件 6AV2107-0CP00-0BB0 SIMATIC WinCC Sm@rtServer for SIMATIC Panels

1585J-M8HBJM-0M3 RJ45 Ethernet Media

1756-TBNH ControlLogix 20 Pin Screw Terminal Block

188-K1D500 Miniature Circuit Breaker 50 A

194E-Y40-1756-6N 40 A 194E Load switch

2090-CFBM7E7-CEAF30 30 m Length SpeedTec Extension Cable

2090-UXNPBMP-10S09 MP-Series 9 m Length Power Cable

BC647MBL001 Machine Edition Lite Development Suite with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDV00075 GCC iFIX Profsnl SCADA 75 I/O Dev

IC200CHS001 I/O carrier barrier style

IC646MPT001 GE Compare Single License

IC647IFSTDV00075M iFIX Standard HMI 75 I/O Development (M4 Part)

IC670ALG310RR Analog Output Voltage, 8 Channel, +/-10V, 0 to 10V

IC697CPU788 GMR Redundancy CPU, 386, 100 Triplex (voted) I/O,

IC800S2K4DSTRKIT S2K series controller starter kit with 4.3 amp Devicenet controller

ControlLogix/1756 System 1756-OW16I N.O. ISOLATED RELAY OUTPUT 16 PTS (36 PIN)

Industrial Computers 6182H-10KRH6B VVCE 1000, KEYPAD, STD MEM, RIO/DH, AC

Process Control 1757-FIMUL005 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDK10C PV PLUS 1000, KEYPAD DISPLAY MODULE

Support 9355-WABDES SUPT RENEWAL CONTRACT FOR 9355WABDE

Support 9351-WESRTS SUPT RENEWAL CONTRACT FOR 9351WESRT

ControlNet Products 1756-CNB CONTROLNET BRIDGE MODULE

RSI Software Products 9301-2SE2400ITU1 RSVIEW32 WORKS 1500-32K UPGRADE IN-SUPT (IT)

RSI Software Products 9355-WABOEMFRE RSLINX OEM - FRENCH

Motion Control MPL-A320P-HJ24AA MOTOR,SERVO,2.94NM,5000RPM,ENCR,230V,BRK,5.1KG

Motion Control 2090-U3AE-D4415 CABLE,TWO AXISTO LOGIX 1756MOAE2 CARD,15M

CBL-119-2 Cable. GE Series 1 Plus (RS-422)

IC600CP610RR 13" Series Six Plus CPU w/o Power Supply (8 Slots)

IC800PCUBDINMTG PowerCube DIN Rail Mounting Adaptor

OC647IFESGDV00300M iFIX Optn: ESig & ERec 300 I/O Development (M4 Part)

PCI-MIO-16XE-50

HICORE-i6313/V

艾讯 SBC8159

PCI DIO 2416

PRA-8243AVE-A7.0

LUX170-RT5U

1492-M6X12 IEC 6 x 12 mm Marker Card

1494R-N1 Lug Kit

软启动器 3RW44466BC46

ET 200SP 6ES7193-6BP20-0BF0 基座单元 BU20-P8+A4+0B ，类型F0，直插式端子，带4个AUX端子，20mm宽

1585D-M4TBJM-3 Micro D-Code, QD Style Ethernet Media

1756-HYD02 ControlLogix Hydraulic Servo Module

1794-PS3 Flex Power Supply

194E-DA16E-TN-PE 194E Load switch

2090-CDNFDMP-S05 MP-Series 5 m Length Feedback Cable

2090-DAPC-D0909 Ultra 1500 9 m Length PC I/f Cable

AD641ECL321 ECLiPS Programming Software for the Series 90-30 SLP with OnTOP

GC646PME001 GlobalCare Complete for PCM Machine Edition Version 1 User

HE800ACC116 Cage-clamp (screw) style I/O plug, 16-terminal. (Qty 10)

IC640BVB317RR Video Board for FactoryMaster

IC647HSTSSEO1750KM eSignature Option for Historian - Standard Server 1,750,000 Points (M4 Key)

IC660BLM508 Bus Terminator 75 Ohm (Qty 4)

IC695CMX128 Control Memory Xchange Module 128Megbytes of user shared memory.

IC756WET200E-22 Custom Datasource Toolkit, English, Version 2.2

CompactLogix System D1769-UM004AENP COMPACT THERMOCOUPLE MOD.

PLC-5/1771 System D1771-6.5.119 U.MNL.INTRINSICALLY SAFE

Process Control 1757-FIMRTPBASE FIELDBUS INTERFACE RTP BASE

Operator Interface 2711P-B7C6D1 PV PLUS 700, KEY/TOUCH, RIO/DH, DC PS, STD MEM

Support 6500-PS7PTS SUPT RENEWAL CONTRACT FOR 6500PS7PT

Support 9358-PLTMCLTR SUPT REINSTATEMENT CONTRACT FOR 9358PLTMCLTENE

Support F1785-KA3 FIRMWARE UPGRADE FOR 1785-KA3 COMMUNICATION MODULE

RSI Software Products 9301-2SE2200U1R UPGRADE: OUT-SUPT: RSVIEW WORKS 150 TO 300

RSI Software Products 9701-VWSB000JPU2 RSV SE STATION 100 - UNLTD DISP UPGRADE (JAPANESE)

RSI Software Products 9399-EDS2TUT RSWIRE TUTORIAL/BASIC OVERVIEW

Motion Control 2098-DSD-005X-DN DRIVE, 2.5A/7.5A, ULTRA3000 W/DEVICENET/INDEX

BC5002TBW0000 12 Inch Intelligence Industrial Computer - Bundled - Performance Series - w/ Windows 2000

IC300CBF005 FOX Fiber Cable Pair, 5.0M

IC752DVT150 VT100 firmware on DataPanel 150 allows DataPanel to be used as standard data entry terminal

MTR-3S43-H-R-0-C-SRR Servo Motor Nema56C with Seal

NI PXIe-5105

PENTIUM/6X86

PCLD-8115

IFRP-462

C803CTX

G55+MDHA32DB 7012-03

1492-JD3F IEC 2Ckt Feed-Thru Blk 2 Stab Conn 2.5mm

1492-W3-W IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW40756BB35

安全 CPU 模块 6ES7 517-3FP00-0AB0 SIMATIC S7-1500F，CPU 1517F-3 PN/DP，中央处理单元，带有 3 MB 工作存储区和 8 MB 数据存储区

156-B20CB3 20 A Three-Phase Solid State Contactor

1746-HCA CABLE ASSY IMC110 TO TERM PANEL 7 FT

1786-RPFM ControlNet Fiber Ring Medium Repeater

193-T1AC10 7.2-10.0 A IEC Bimetallic Overload Relay

20-FR09823 IGBT MODULE,SUB-ASSEMBLY, FR. 9 600V CL

2090-CSBM1DF-14AA09 Kinetix 9m Smartlink Single Cable

20AC015A3AYNADC0 PowerFlex 70 AC Drive 20A

GA647TPD300 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 300 I/O Development and Runtime System

GP647IFPRSR00075 GCP iFIX Profsnl SCADA 75 I/O Srv

IC600CB507RR 8K Register Memory Module (for use in Model 600 or 6000)

IC647HSTCS250KM Historian Enterprise Corporate Server 250000 Points (M4 Key)

IC647TSSRV002 Proficy Troubleshooter 2 User Server License

IC693PWR330CA Conformal Coated Power Supply 120/240VAC 125VDC, added capacity.

IC756MDV010K-99 DV Draw Dvlpnt on Alpha OpenVMS, Korean, Version 9.9

MicroLogix 1000/1761 System D1761-6.3 MICROLOGIX 1000 PROGRAMMABLE CONTROL.USER MANUAL

PLC-5/1771 System 1771-OFE1 ANALOG OUTPUT MODULE

Distributed I/O 1794-ADNK CONFORMALLY COATED, DEVICENET ADAPTER

Communications 9355-JBOXENE RSJUNCTIONBOX

Operator Interface D6190-6.5.3RU CONTROLVIEW MOUSE GRAFIX USER MNL (RUSSIAN)

Support 9358-BA60R SUPT REINSTATEMENT CONTRACT FOR 9358BA60ENE

Support 9392-KBCDRSENE KNOWLEDGEBASE CD-ROM SUBSCRIPTION

RSI Software Products 9324-RL01U3ENE UPGRADE: IN-SUPT: RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500U5 UPGRADE: IN-SUPT: RSVIEW32 RUNTIME 5000 TO 100K

RSI Software Products 9356-STD2350U1R UPGRADE: OUT-SUPT: RSSQL STD 150 TO STD 5000 TAG

Motion Control Y-1003-1-H04AA MOTOR,SERVO,0.35 NM,4500RPM,ENCDR,115V,BRK,1.2KG

5004S Obsolete - Message Center. 1 Line, 15MM, Green VFD. SLAVE Unit. NEMA 4

IC200CHS122 I/O INTERPOSING FUSE STYLE, 16 PT EXPANSION

IC694MDL753 OUTPUT MODULE 12/24 VDC 0.5AMP 32 POINT POSITIVE LOGIC

MSI-WEB-2-43 Web or Excel Reping Clients 2 Pack-43

cRIO-9030

AIMB-562

阿尔泰科技 PCI2310

Nupro-852LV

ACE-832AP

DMC1600

AVerMedia V1A3-E

1492-SPM2C500 MCB Supplementary Protector 50 A

软启动器 3RW30362BB04

电机启动器 3VU16403LS00

150-F251NBR SMC Flex Smart Motor Controller

1732E-16CFGM12P5QCR ArmorBlock 16 Point Configurable QC

1771-P5EK 1771 Power Supply

193-EEDP E1 Plus 3.2-16 A IEC Overload Relay

199-MSMA48 Surge Suppressor

2090-CPWM7DF-08AA90 MP-Series 90m Standard Power Cable

2097-F4 Kinetix 300/350 4.40 A Line EMI Filter

EDS-308-T C1 D2 8-port Unmanaged 10/100 Switch (-40 to 75 deg C op temp)

GFK-1504 Manual VersaMax Modules, Power Supplies, Carriers, and Cables

IC220ALG220 ANALOG IN, 15 BIT, VOLTAGE/CURRENT, 2CH (REQUIRES 1 IC220TBK061)

IC647CBL708 Cable, Workstation Intf. to Series Six CPU, Parallel, 10 feet

IC647PRTORAM Proficy Portal Oracle Connector (M4 Key)

IC693DSM302 DSM302 motion controller module

IC756ADV001J-99 DV Development - AIX Op Sys Addt'l User, Japanese, Version 9.9

MSI-IGC 7 Day x 24 Hour Support / GlobalCare

SLC/1746 System 1746-RT33 REPLACEMENT TERMINAL BLOCK

Distributed I/O 1738-OB4EM12 24VDC 4 SOURCING OUTPUTS WITH M12 CONNECTORS

Communications 1784-CP11 CABLE ASSY, 10FT/3.20M, IBM XT OR COMPATIBLE CMPTR

Operator Interface 2711-NP1 REPLACEMENT MOUNTING CLIPS

Support 9302-RTS SUPT RENEWAL CONTRACT FOR 9302RT

Support 9324-RL5300FRS SUPT RENEWAL CONTRACT FOR 9324RL5300FR

DeviceNet Products 2706-P43R INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

RSI Software Products 9301-2SE335DEU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (DE)

RSI Software Products 9326-AD5WDENE WIRING DIAGRAM GENERATOR ADD-ON 5 USER

Motion Control MPG-A010-091S24 MOTOR,SERVO,GEAR RATIO 91,35NM,65RPM,SINGL,BRK

Silver Series 1785-V40L VME PLC-5/40 CONTROLLER W/EXT. LOCAL PORT

HE693PWR524 Power supply adapter for Series 90-30 to allow for redundant power supplies.

IC660BRD024 Genius 32point 12/24 Vdc Source Block for Redundancy "T" Configuration

QPICBDE0000 10.4" Color TFT, Blank Label, Ethernet, CF Card, 24VDC, UL, cUL, CE, UL1604

ST-5232 STXi Serial Interface module RS-485, 2 Channels

USB-8472

PCI-9113A

IMB-M40H

HSL-DO32-DB-N HSL

786LCD/S Std

ANLX800-ISA

1492-SJM5-10 IEC Term Blck 10 pole Side Jumper

人机界面 6AV6545-0BB15-2AX0 TP170B 触摸屏，蓝色，6 英寸，320? 240

6ES78331FA130YF5

1497B-A14-M11-0-N Control Power Transformer

1606-XLS480E-3 Power Supply XLS 480 W Power Supply

1769-IA16 CompactLogix 16 Pt 120VAC D/I Module

189-AL02 MCB Accessory Auxiliary Contact

194R-HF-400-4U 194R Disc Switch Conductor Mtg Hdwre

2090-CPBM7DF-12AA25 MP-Series 25m Power and Brake Cable

2090-XXNPMP-16S15 MP-Series 15 m Length Power Cable

CBL-30-BT-20 Brake cable for MTR-3S or MTR-3N series servo motors with brake. 20 feet

GF-0201 Connecting FlashCable to Fowler Ultra Digit I and II.

IC200TBX164 Tool box, Micro 64 and software. Includes (IC200UDR164) 24VDC In/Relay Out, AC Power Supply, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with Proficy software, manuals and cables (IC646MPM101)

IC646TBSPMPS500 Smart Process Monitoring Process+ server 500 loops

IC647NSF000 Siemens TCP/IP OPC Server

IC693ACC331 Base is discontiued. Use generic TBQC base IC693ACC329.

IC752CAB102 AB Micrologix cable for DataPanel 30/50

IC800VMCP1030 Power cable for 1 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-OW4 RELAY OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-ACCORD IEC AC POWER CORD.

Application-specific products 1400-PD51B POWERMONITOR DISPLAY MODULE

Operator Interface 2711-B6C2L1 PV600 COLOR KEY&TOUCH, DH485

Support 9301-2SE2400DES SUPT RENEWAL CONTRACT FOR 93012SE2400DE

Support 9307-EM8MGRR SUPT REINSTATEMENT CONTRACT FOR 9307EM8MGRENE

DeviceNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE250ZHU1R RSVIEW32 WORKS 32K-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60U2R UPGRADE: OUT-SUPT: RSBATCH 10 TO 60

Motion Control MPL-B330P-MK24AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,460V,BRK

Motion Control 2090-U3BC-D4401 BREAKOUT BOARD CABLE,CN1,ULTRA 3000,1M

GFK-0664 Axis Positioning Module (APM) Programmer's Manual

IC646CNC000 CIMPLICITY Client for Microsoft Windows with NetDDE

MSCPX-212806NT Marathon Exp CPU - 333 MHz AMD CPU, 128M, 6G, WinNT, 2 ISA and 2 PCI/ISA expansion slots

PSPC-DC50/E Prof Shop Floor SPC DC 50 User w/ eSig

PXIe-2515

CONTEC COM-8(PCI)H

CI7BM-1.10

KVR16LS11/4

CIO-DAS1400

IEEE 1394A PCI

1492-N30 TERM BLCK 50 Pole Side Jumper

快速进给/爬行定位模块 6ES7351-1AH01-0AE0 FM351，快速进给/爬行定位模块，以双速电机实现闭环定位，8DI/8DO，15?针D?型编码器接口，20pin前连接器

行程开关 3SE53223SD23

TIA 博途 WinCC 选件 6AV2107-2KF00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 3 -> 10 Clients

1585J-M8HBJM-5 RJ45 Ethernet Media