【正文】 M anipulator is now used as a indust rial r obot s in use, t he contr ol bj ectives of t en appear oft en in industr ial aut omation. I ndustr ial autom ation t echnol gy has gr adualy m at ur ed, as mat ur e a t echnol gy line has been r apid developm ent in industr ial aut omation as a separ at e subject . M anipulator application began t o f ilt er int o welding, logistics, mechanical pr ocessing, and ot her industr ies. Especially at high or very low t em per at ur es, f ul of poisonous gases, high r adiat ion case, r obot in sim ilar cir cum st ances showed gr eat use also br ings gr eat convenience t o t he st af . Pr ecisely because of t his r obot o get people39。s att ent ion began t o be a high degr ee of developm ent. Labor ates, wor king condit ions, labor int ensive aspects of pr om ot ing development. Bot h at hom e and abr oad t o develop t he PLC ( pr ogr ammable logic contr oler ) is in various pecial cir cum st ances and under special condit ions et f or m echanical devices. Now t urned on t he development of t he m icr oelect ronics autom atic cont rol t echnol gy and t he r apid development of t he t rains, t he success of PLC hardwar e sof tware and sim ulation contr ol win big and sucessf ul developm ent , now conti ues t o develop as a f act or y aut om ation st andar ds. Because r obot s ar e good evelopment of t he t echnology m akes a good optim ization of pr oductive capit al, and r obot shows t his unique advant ages, uch as: has good patibilt y, wide availabilt y, har dware is plet e, and pr ogr amming t hat can be m ast er ed in a short tim e, so in t he cont ext of indust rial PLC applications becam e ubiquit ous. M anipulator in m any developed count ry agr icult ur e and industr y has been applied, such as t he use of mechanical har vest ing lar ge ar eas of armland, r epeat ed operations on t he high speed line t hat uses ar obotic arm, and so on. Today, t he high level of autom ation bined wit h r est rict ions on t he m anipulat or developm ent level is slight ly lower t han t he int er national. The design is m ainly arm welding m achine by PLC Aut om ation contr ol. This of design let designer s on in schol by lear n of has a must of consolidation, underst and has som e usualy didn39。t opport unit ies awar eness in wor ld r ange wit hin some leading level of knowledge has has m ust awar eness, hope designers can in yihou of design in t he can sucess of using in t his design in t he pr oceeds of exper ience manipulator in both at home and abroad of r esear ch profile aut omat ion mechanical ar m research began Yu 20th cent ur y m edium term, aft er years wit h wit h puter and aut omat ion t echnol gy of development , M akes m echanical ar m on t he Gr and stage of industr ial automation and shine, gradually became an industr ial evaluation standar ds, and it s im por tance can be seen. Now or ignal r obot ic arm spent most of m ass pr oduct ion and use on t he pr oduct ion line, which is pr ogrammed robot ic arm. As t he f ir st generation of manipulat or posit ion contr ol systems main features, alt hough not back several gener at ions t hat can detect t he ext ernal envir onment, but can stil successfuly plet e like welding, painting, delivery as well as f or m at er ials simple movements. Second gener at ion mechanical ar ms ar e equipped wit h sensors and m anipulator s have t he envir onment there is a certain amount of sense, when the mechanical ar m is t o use the program as a basis . Dif ference is t hat t he robot begand (SnCl2 HO),Adhyrociatsveu10mLjTp.+:5wg/fkx℃b3469Y8IG[N]WRFB℃7V anipulat or contr ol m ode and pr ogr amm able cont r oler s int r oduct ion 2. 1 Select discussion wit h m anipulat or cont r ol 2. 1. 1 classif ication of cont r ol r elays and iscr et e electr onic cir cuit can cont rol old indust rial equipment, but also m or e mon. M ainly t hese t wo r elat ively cheap and you can meet t he old fashioned, sim ple ( or sim ple) industr ial equipm ent . So he can see t hem now, however t hese t wo cont rol m odes ( r elay and discr ete elect ronic cir cuit s) ar e t hese f at al f laws: ( 1) cannot adapt o t he plex logic cont rol, ( 2) only f or t he cur ent pr oj ect, t he lack of patibilt y and ( 3) not r ef orming t he syst em wit h equipm ent im provements. Spring f or t he developm ent of China39。s m odern indust rial aut omation t echnol gy t he substant ial incr ease in t he level of indust rial aut om ation, plet ed t he perf ect r elay of t he put er t oo m uch. I n t erm s of contr oling t he put er showed his t wo great advantages: ( 1) each of t he har dware can be installed on one or m or e m icr oprocessors。 ( 2) t he of ficial designer of t he sof t war e wr it ing content cont rol is all about. Now in sever al ways in t he cont ext of indust rial aut omation can of ten be seen in t hr e ways: ( 1) Pr ogram mable Logical Contr oler ( r ef er red t o as I PC)。 ( 2) Dist ribut ed Cont rol Syst em ( DCS f or shor t) , and ( 3) t he Pr ogr amm able Logical Contr oler ( PLC f or short ). 2. 1. 2 PLC and t he I PC and DCS contr ast cont r ast 1, each of t he t hr ee t echnol gies of origins and evelopment r equir em ents f or f ast data processing makes it invent ed t he put er . The m en br ought in t erms of har dware t her e, using ahigh level of st andardizat ion, can use m ore patibilt y t ools, is a rich soft war e r esources, especially t he need f or im mediacy in oper at ional system s. So t he puter can ef fect ively contr ol is used t o contr ol and meet it s speed, on t he vir t ual m odel, r ealt ime and in putational r equir em ents. Dist ribut ed system start ed wit h a cont rol syst em f or industrial aut om at ic instr um ent used t o contr ol, whereas now it is sucessf uly developed int o industr ial cont r ol put er used as a centr al colection and ist ribut ion syst em and t ransit ion of