SCARA Robot Controller Cable Collision Prevention

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing scara robots face cable damage due to collisions during operations, which existing solutions attempt to address through mechanical configurations, increasing the robot's cost and size.

Innovation Solution

A control system that includes a controller capable of deciding the rotational direction of an operation tool to prevent cable collisions with robot components by analyzing relative rotation angles before and after target position movement, allowing the tool to rotate in a direction that avoids contact with the cable.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If mechanical configurations are added to prevent cable damage, then cable reliability is improved, but device complexity and size increase

Engineering Contradiction:

Improvecable reliabilityVSAvoidmechanical configuration complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces mechanical protection structures with a control-based solution. The controller determines the rotational direction of the operation tool based on the positional relationship between the cable and robot components, using control logic instead of mechanical structures to prevent cable damage.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system uses its own control capabilities to protect the cable. By monitoring the cable's positional relationship with robot components and automatically adjusting the operation tool's rotational direction, the robot protects itself without external mechanical protection devices.

Inventive Principle:

Principle #25Self-service

2Reliability

If mechanical configurations are added to prevent cable damage, then cable reliability is improved, but manufacturing cost increases

Engineering Contradiction:

Improvecable reliabilityVSAvoidmanufacturing cost

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Speed

If the operation tool rotates without control, then operation speed is improved, but cable collision occurs

Engineering Contradiction:

Improveoperation speedVSAvoidcable collision

Core Design Contradiction:

SpeedVSObject-affected harmful factors

Solution Approach 1:

The controller continuously determines the positional relationship between the cable and robot components, and based on this feedback information, decides the appropriate rotational direction of the operation tool. This closed-loop control prevents cable collision while maintaining operational efficiency.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The controller determines the rotational direction of the operation tool in advance based on the predicted positional relationship with the cable, preventing collision before it occurs rather than reacting after collision happens.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS10625418B2Control system, controller, control method, and recording medium

Publication Date: 2020.04.21 OMRON CORP

AI summary

A control system, a controller, a control method and a recording medium capable of preventing damage to a cable occurring during an operation under control of a scara robot are provided. A control system includes a scara robot 300 and a controller configured to control the scara robot 300. The controller includes an acquisition unit configured to acquire a target position of a control object in the scara robot 300 and a decision unit configured to decide a rotational direction of an operation tool 332 so that a cable 333 does not collide with a component of the scara robot 300 when the control object moves to the target position.