基于CPS方法的工业机器人系统

陈友东; 常石磊; 冯强国

doi:10.13700/j.bh.1001-5965.2017.0374

基于CPS方法的工业机器人系统

doi: 10.13700/j.bh.1001-5965.2017.0374

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目:

国家科技支撑计划 2015BAF01B04

北京市科技计划 D161100003116002

详细信息

作者简介:
陈友东  男, 博士, 副教授。主要研究方向:工业机器人、人机协作、运动控制、数控系统

常石磊  男, 硕士研究生。主要研究方向:工业机器人

冯强国  男, 硕士研究生。主要研究方向:工业机器人

通讯作者:
陈友东, E-mail: chenyd@buaa.edu.cn

中图分类号: TP242.2
计量
- 文章访问数: 983
- HTML全文浏览量: 83
- PDF下载量: 501
- 被引次数: 0
出版历程
- 收稿日期: 2017-06-05
- 录用日期: 2017-07-07
- 网络出版日期: 2018-05-20

Industrial robot system based on CPS approach

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Key Technology Research and Development Program of the Ministry of Science and Technology of China 2015BAF01B04

Beijing Municipal Science and Technology Project D161100003116002

More Information

Corresponding author: CHEN Youdong, E-mail: chenyd@buaa.edu.cn

摘要

摘要:
基于信息物理融合系统（CPS）的工业机器人系统是智能制造的使能技术和设备，提出了一种基于CPS方法的工业机器人系统，实现了物理世界和信息世界的融合。系统分为物理层、网络层、控制层和应用层。物理层的数据通过网络层上传给控制层，更新物理世界在信息世界的信息；应用层对其进行优化、决策；控制层将决策转变为设备的控制信息，通过网络层实现物理层的控制。采用该方法实现的工业机器人系统，在ER3A-C60型工业机器人上，采用自制的控制系统和MICRO-6013CM型工业相机进行验证，证实了该方法的可行性。
- 信息物理融合系统(CPS) /
- 工业机器人 /
- 控制系统 /
- Modbus /
- 仿真
Abstract:
Industrial robot system based on cyber-physical system (CPS) is a key and enabling technology for intelligent manufacturing. This paper presents an industrial robot system based on CPS approach, which is the fusion of physical world and information world. The system is divided into physical layer, network layer, control layer and application layer. Data from the physical layer are sent to the control layer via the communication layer to update the data in the information world. The application layer analyzes and optimizes these data to make decisions. In the control layer, the decisions are transformed into the device control data. The control data are sent to the physical layer to control the devices through the communication layer. A machining experiment is conducted to validate the feasibility of the method by using the ER3A-C60 industrial robot, MICRO-6013CM smart camera and in-house industrial control system.
- cyber-physical system (CPS) /
- industrial robot /
- control system /
- Modbus /
- simulation

HTML全文

图 1 基于CPS方法的工业机器人系统

Figure 1. Industrial robot system based on CPS approach

下载: 全尺寸图片幻灯片

图 2 基于CPS方法的机器人系统的具体组成

Figure 2. Specific components of industrial robot system based on CPS approach

下载: 全尺寸图片幻灯片

图 3 机器人控制系统物理层

Figure 3. Physical layer of robot control system

下载: 全尺寸图片幻灯片

图 4 控制器软件结构

Figure 4. Software structure of controller

下载: 全尺寸图片幻灯片

图 5 Modbus通信流程

Figure 5. Process of Modbus communication

下载: 全尺寸图片幻灯片

图 6 控制层类的关系

Figure 6. Class diagram of control layer

下载: 全尺寸图片幻灯片

图 7 仿真环境类的关系

Figure 7. Class diagram of simulation environment

下载: 全尺寸图片幻灯片

图 8 交互界面类的关系

Figure 8. Class diagram of interaction interface

下载: 全尺寸图片幻灯片

图 9 实验系统

Figure 9. Experimental system

下载: 全尺寸图片幻灯片

图 10 任务轨迹相对位置

Figure 10. Relative position of task trajectory

下载: 全尺寸图片幻灯片

图 11 操作流程

Figure 11. Operation process

下载: 全尺寸图片幻灯片

图 12 运行中的机器人与仿真模型

Figure 12. Running robot and simulation model

下载: 全尺寸图片幻灯片

图 13 任务轨迹分析

Figure 13. Analysis of task trajectory

下载: 全尺寸图片幻灯片

表 1 Modbus协议的主要功能码^[15]

Table 1. Function code mainly used in Modbus process^[15]

功能码	备注
1	读取线圈状态取得一组逻辑线圈的当前状态
2	读取输入状态取得一组开关输入的当前状态
3	一个或多个保持寄存器中取得当前的二进制值
4	在一个或多个输入寄存器中取得当前的二进制值
5	强置一个逻辑线圈的通断状态
6	把具体二进值装入一个保持寄存器
15	强置一串连续逻辑线圈的通断
16	把具体二进制值装入一串连续的保持寄存器支持浮点数
20	读通用寄存器
21	写通用寄存器

下载: 导出CSV

参考文献(15)

[1]	LEITÃO P, COLOMBO A W, KARNOUSKOS S.Industrial automation based on cyber-physical systems technologies:Prototype implementations and challenges[J].Computers in Industry, 2016, 81(s1):11-25. doi: 10.1016/j.compind.2015.08.004
[2]	何积丰.Cyber-physical systems[J].中国计算机学会通讯, 2010, 6(1):25-30. http://www.cs.virginia.edu/~stankovic/psfiles/Rajkumar-DAC2010-Final.pdf HE J F.Cyber-physical systems[J].Communications of the China Computer Federation, 2010, 6(1):25-30(in Chinese). http://www.cs.virginia.edu/~stankovic/psfiles/Rajkumar-DAC2010-Final.pdf
[3]	WANG L, TÖRNGREN M, ONORI M.Current status and advancement of cyber-physical systems in manufacturing[J].Journal of Manufacturing Systems, 2015, 37(2):517-527. https://www.cognizant.com/InsightsWhitepapers/Informed-Manufacturing-The-Next-Industrial-Revolution.pdf
[4]	LEE E A. Cyber physical systems: Design challenges[C]//11th IEEE Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing. Piscataway, NJ: IEEE Press, 2008: 363-369.
[5]	U. S. Government, National Institute of Standards and Technology. Foundations for innovation: Strategic R & D opportunities for 21st century cyber-physical systems-connecting computer and information systems with the physical world, robots, autonomous vehicles[R]. Washington, D. C. : NIST, 2015.
[6]	MICHNIEWICZ J, REINHART G.Cyber-physical-robotics-Modelling of modular robot cells for automated planning and execution of assembly tasks[J].Mechatronics, 2016, 34(s1):170-180. https://www.sciencedirect.com/science/article/abs/pii/S0957415815000574
[7]	CHEN J, YANG J, ZHOU H, et al.CPS modeling of CNC machine tool work processes using an instruction-domain based approach[J].Engineering, 2015, 1(2):247-260. doi: 10.15302/J-ENG-2015054
[8]	CHEN W L, CAO R M, HAO L N, et al. Researches on robot system architecture in CPS[C]//2015 IEEE International Conference on Cyber Technology in Automation, Control, and Inte-lligent Systems. Piscataway, NJ: IEEE Press, 2015: 603-607.
[9]	LUO R C, KUO C W.Intelligent seven-DoF robot with dynamic obstacle avoidance and 3-D object recognition for industrial cyber-physical systems in manufacturing automation[J].Procee-dings of the IEEE, 2016, 104(5):1102-1113. doi: 10.1109/JPROC.2015.2508598
[10]	COLOMBO A W, KARNOUSKOS S.Towards the factory of the future:A service-oriented cross-layer infrastructure[J].ICT Shaping the World:A Scientific View, 2009, 2009:65-81.
[11]	温景容, 武穆清, 宿景芳.信息物理融合系统[J].自动化学报, 2012, 38(4):507-517. http://mall.cnki.net/magazine/Article/MOTO201204003.htm WEN J R, WU M Q, SU J F.Cyber-physical system[J].Acta Automatica Sinica, 2012, 38(4):507-517(in Chinese). http://mall.cnki.net/magazine/Article/MOTO201204003.htm
[12]	TAN Y, GODDARD S, REZ L C.A prototype architecture for cyber-physical systems[J].ACM Sigbed Review, 2008, 5(1):1-2. doi: 10.1145/1366283.1366309
[13]	王小乐, 陈丽娜, 黄宏斌, 等.一种面向服务的CPS体系框架[J].计算机研究与发展, 2010, 47(s2):299-303. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jsjyjyfz2010z2061 WANG X Y, CHEN L N, HUANG H B, et al.A service-oriented architecture framework of cyber-physical systems[J].Journal of Computer Researche and Development, 2010, 47(s2):299-303(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jsjyjyfz2010z2061
[14]	王田苗, 陶永.我国工业机器人技术现状与产业化发展战略[J].机械工程学报, 2014, 50(9):1-13. http://www.iyazhu.com/technology/show.php?itemid=27944 WANG T M, TAO Y.The present situation of industrial robot technology in China and the strategy of industrialization deve-lopment[J].Chinese Journal of Mechanical Engineering, 2014, 50(9):1-13(in Chinese). http://www.iyazhu.com/technology/show.php?itemid=27944
[15]	Modbus IDA. Modbus application protocol specification v1. 1a[EB/OL]. (2004-06-04)[2017-07-01]. http://www.Modbus-IDA.org.