6DD1661-0AB0

6DD1661-0AB0

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  1、引言 
從世界上*臺(tái)遠(yuǎn)控機(jī)械手的誕生至今已有50年了，在這短短的幾年里，伴隨著計(jì)算機(jī)、自動(dòng)控制理論的發(fā)展和產(chǎn)業(yè)生產(chǎn)的需要及相關(guān)技術(shù)的進(jìn)步，機(jī)器人的發(fā)展已經(jīng)歷了3代［1］：（1）可編程的示教再現(xiàn)型機(jī)器人；（2）基于傳感器控制具有一定自主能力的機(jī)器人；（3）智能機(jī)器人．作為機(jī)器人的核心部分，機(jī)器人控制器是影響機(jī)器人性能的關(guān)鍵部分之一．它從一定程度上影響著機(jī)器人的發(fā)展．目前，由于人工智能、計(jì)算機(jī)科學(xué)、傳感器技術(shù)及其它相關(guān)學(xué)科的長(zhǎng)足進(jìn)步，使得機(jī)器人的研究在高水平上進(jìn)行，同時(shí)也為機(jī)器人控制器的性能提出更高的要求．

6DD1661-0AB0

對(duì)于不同類(lèi)型的機(jī)器人，如有腿的步行機(jī)器人與關(guān)節(jié)型產(chǎn)業(yè)機(jī)器人，控制系統(tǒng)的綜合方法有較大差別，控制器的設(shè)計(jì)方案也不一樣．本文僅討論產(chǎn)業(yè)機(jī)器人控制器題目．

2、機(jī)器人控制器類(lèi)型 
機(jī)器人控制器是根據(jù)指令以及傳感信息控制機(jī)器人完成一定的動(dòng)作或作業(yè)任務(wù)的裝置，它是機(jī)器人的心臟，決定了機(jī)器人性能的優(yōu)劣．
從機(jī)器人控制算法的處理方式來(lái)看，可分為串行、并行兩種結(jié)構(gòu)類(lèi)型．

2.1 串行處理結(jié)構(gòu)

所謂的串行處理結(jié)構(gòu)是指機(jī)器人的控制算法是由串行機(jī)來(lái)處理．對(duì)于這種類(lèi)型的控制器，從計(jì)算機(jī)結(jié)構(gòu)、控制方式來(lái)劃分，又可分為以下幾種［2］.
（1） 單CPU結(jié)構(gòu)、集中控制方式
用一臺(tái)功能較強(qiáng)的計(jì)算機(jī)實(shí)現(xiàn)全部控制功能．在早期的機(jī)器人中，如Hero-I, Robot-I等，就采用這種結(jié)構(gòu)，但控制過(guò)程中需要很多計(jì)算（如坐標(biāo)變換），因此這種控制結(jié)構(gòu)速度較慢．
（2） 二級(jí)CPU結(jié)構(gòu)、主從式控制方式
一級(jí)CPU為主機(jī)，擔(dān)當(dāng)系統(tǒng)治理、機(jī)器人語(yǔ)言編譯和人機(jī)接口功能，同時(shí)也利用它的運(yùn)算能力完成坐標(biāo)變換、軌跡插補(bǔ)，并定時(shí)地把運(yùn)算結(jié)果作為關(guān)節(jié)運(yùn)動(dòng)的增量送到公用內(nèi)存，供二級(jí)CPU讀取；二級(jí)CPU完玉成部關(guān)節(jié)位置數(shù)字控制．這類(lèi)系統(tǒng)的兩個(gè)CPU總線之間基本沒(méi)有，僅通過(guò)公用內(nèi)存交換數(shù)據(jù)，是一個(gè)松耦合的關(guān)系．對(duì)采用更多的CPU進(jìn)一步分散功能是很困難的．日本于70年代生產(chǎn)的Motoman機(jī)器人（5關(guān)節(jié)，直流電機(jī)驅(qū)動(dòng)）的計(jì)算機(jī)系統(tǒng)就屬于這種主從式結(jié)構(gòu)．
（3） 多CPU結(jié)構(gòu)、分布式控制方式
目前，普遍采用這種上、下位機(jī)二級(jí)分布式結(jié)構(gòu)，上位機(jī)負(fù)責(zé)整個(gè)系統(tǒng)治理以及運(yùn)動(dòng)學(xué)計(jì)算、軌跡規(guī)劃等．下位機(jī)由多CPU組成，每個(gè)CPU控制一個(gè)關(guān)節(jié)運(yùn)動(dòng)，這些CPU和主控機(jī)是通過(guò)總線形式的緊耦合．這種結(jié)構(gòu)的控制器工作速度和控制性能明顯進(jìn)步．但這些多CPU系統(tǒng)共有的特征都是針對(duì)具體題目而采用的功能分布式結(jié)構(gòu)，即每個(gè)處理器承擔(dān)固定任務(wù)．目前世界上大多數(shù)商品化機(jī)器人控制器都是這種結(jié)構(gòu)．
控制器計(jì)算機(jī)控制系統(tǒng)中的位置控制部分，幾乎無(wú)例外地采用數(shù)字式位置控制．
以上幾種類(lèi)型的控制器都是采用串行機(jī)來(lái)計(jì)算機(jī)器人控制算法．它們存在一個(gè)共同的弱點(diǎn)：計(jì)算負(fù)擔(dān)重、實(shí)時(shí)性差．所以大多采用離線規(guī)劃和前饋補(bǔ)償解耦等方法來(lái)減輕實(shí)時(shí)控制中的計(jì)算負(fù)擔(dān)．當(dāng)機(jī)器人在運(yùn)行中受到干擾時(shí)其性能將受到影響，更難以保證高速運(yùn)動(dòng)中所要求的精度指標(biāo)．

由于機(jī)器人控制算法的復(fù)雜性以及機(jī)器人控制性能的亟待進(jìn)步，很多學(xué)者從建模、算法等多方面進(jìn)行了減少計(jì)算量的努力，但仍難以在串行結(jié)構(gòu)控制器上滿足實(shí)時(shí)計(jì)算的要求．因此，必須從控制器本身尋求解決辦法．方法之一是選用高檔次微機(jī)或小型機(jī)；另一種方法就是采用多處理器作并行計(jì)算，進(jìn)步控制器的計(jì)算能力．

2.2 并行處理結(jié)構(gòu)

并行處理技術(shù)是進(jìn)步計(jì)算速度的一個(gè)重要而有效的手段，能滿足機(jī)器人控制的實(shí)時(shí)性要求．從文獻(xiàn)來(lái)看，關(guān)于機(jī)器人控制器并行處理技術(shù)，人們研究較多的是機(jī)器人運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的并行算法及實(shí)在現(xiàn)．1982年J.Y.S.Luh［3］*提出機(jī)器人動(dòng)力學(xué)并行處理題目，這是由于關(guān)節(jié)型機(jī)器人的動(dòng)力學(xué)方程是一組非線性強(qiáng)耦合的二階微分方程，計(jì)算十分復(fù)雜．進(jìn)步機(jī)器人動(dòng)力學(xué)算法計(jì)算速度也為實(shí)現(xiàn)復(fù)雜的控制算法如：計(jì)算力矩法、非線性前饋法、自適應(yīng)控制法等打下基礎(chǔ)．開(kāi)發(fā)并行算法的途徑之一就是改造串行算法，使之并行化，然后將算法映射到并行結(jié)構(gòu)．一般有兩種方式，一是考慮給定的并行處理器結(jié)構(gòu)，根據(jù)處理器結(jié)構(gòu)所支持的計(jì)算模型，開(kāi)發(fā)算法的并行性；二是首先開(kāi)發(fā)算法的并行性，然后設(shè)計(jì)支持該算法的并行處理器結(jié)構(gòu)，以達(dá)到并行效率．

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JEL Corporation WAFER TRANSFER ROBOT C4442S-00530 Dual Arm Robot with controller

HONDA ELECTRON WAFER TRANSFER ROBOT RB670-TI-R Dual Arm Robot with controller

AE Advanced Energy RF-10S RF generator.13.56?MHz P/N 3150073-000

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Advanced Energy RF Generator PDX 5000 LF Generator

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Leitz Ergolux AMC Inspection Microscope

dalsa piranha3 line scan camera P3-12K40-01 W/DALSA VISION BOARD

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DELTA TAU DATA SYS TURBO PMAC2 MOTION CONTROLLER

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Ebara ET801H Turbo Molecular Vacuum Pump with 803H controller

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SEREN R1001 13.56Hz 1Kw RF GENERATOR PN:9600620010

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edyne Dalsa piranha3 line scan camera P3-87-12K40-01-?R

VARIAN ion implant sys. PULSE POWER SUPPLY

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coherent LabMax-TO & PM300F-50 Laser Power Meter

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Rorze RA301-512-002 Wafer Aligner Prealigner Robot

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Cognex VM16A 203-0075-RE Vision Image Processor Board

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Olympus LM Plan FI 20x/0.40 BD objective

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LEICA Leitz PL APO 50X/0.90 microscope objective

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Siemens Circuit Board 6SC6300-0FE01 SIMODRIVE

Cognex 8100 Frame Grabber,VPM- 8100Q-000,MVS 801-8120-001,p/?n 200-0097-2 REV F

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Cognex VPM-8120S?-5060 rev.A opt:A pci vision card

DALSA Spyder2 Line Scan Camera S2-12-02k40-10e

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ZEISS EPIPLAN NEOFLUAR 20X/0.50 HD DIC OBJECTIVE

OMRON PLC CV1000-CPU01-V1 CPU Unit

Mitutoyo M Plan Apo 20x 0.42 f=200 Microscope Objective

FAST CORPORATION CSC 901NT VISION CONTROLLER

FAST CORPORATION FV904 VISION CONTROLLER

VARIAN E1147480 ANALOG/DIGITAL I/O INTERFACE MODULE

MOTOROLA MVME 162-263 CPU BOARD

MITSUBISHI GOT1000 HMI GT1555-QSBD GRAPHIC OPERATION TERMINAL

PENTAX 645 FA Zoom 80-160mm F4.5 Lens made Machine vision camera lens

VAT GATE VALVE 02110-BA24-AJY1

ZEISS EPIPLAN NEOFLUAR 10X/0.30 HD DIC OBJECTIVE

CORRECT TOKYO M PLAN APO 50X/0.40 ∞/0 SLWD OBJECTIVE

OPTEM M PLAN 10X/0.30 ∞/0 f=200 OBJECTIVE

SIEMENS SIMATIC S5 6gk1143-0ab02 Ethernet FREE SHIP

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MITUTOYO EF-P DIGIMATIC INDICATOR

MITSUBISHI MELSEC AD75P3-S3 Positioning Module

OMRON Z4LC-C28 PARALLEL BEAM LINE LASER SENSOR

FAGOR AUTOMATION AC SERVO DRIVE MCS-20L CNC

Toshiba IK-C41mf macro ccd machine vision camera

Sony XCL-5000,5 mega pixel Ultra High-resolution Machine Vision Camera

MATROX HELIOS XCL/ODYSSEY XCL7108-03 REV A FRAME GRABBE

newport Z180A Motorized Linear Stages

COMDEL ESC-3D 3KV ELECTROSTATIC VOLTAGE SOURCE

Proface GP570-SC11 Touch Panel Operator Interface HMI

Point Grey Research Scorpion SCOR-20SOM IEEE1394 CCD

MITSUBISHI AC SERVO MOTOR HC-SFS202 2KW

MITSUBISHI MR-J2S-200CP 2KW SERVO MOTOR DRIVER

Ushio SP-7 UV Lamp Spot Cure Unit