基于CPS方法的工业机器人系统

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。

Industrial robot system based on CPS approach

Industrial robot system based on cyber-physical system(CPS) is a key and enabling technolo-gy 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 communi-cation 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,MI-CRO-6013CM smart camera and in-house industrial control system.