SCARA Robot Control System for Operation Prohibition Region
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Solution Overview
Problem
Existing SCARA robot control systems face inefficiencies in determining abnormal operations due to complex shape operation prohibition regions, leading to longer calculation times and reduced safety.
Innovation Solution
A control system that allows users to set a two-dimensional operation prohibition region, which is then extended to a three-dimensional region in a simple shape, such as a fan or polygon, to facilitate quicker determination of abnormal operations by the controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a complex-shaped operation prohibition region is used to accurately define unsafe areas, then safety coverage is improved, but calculation time increases and processing speed decreases
Solution Approach 1:
The operation prohibition region is segmented into multiple simple geometric shapes (triangles, quadrilaterals, etc.) that can be independently calculated. This allows the controller to process each simple shape separately rather than dealing with one complex shape, significantly reducing calculation time while maintaining complete safety coverage through the union of these segmented regions.
Solution Approach 2:
A setting device is introduced as an intermediary between the user and the controller. This setting device pre-processes the operation prohibition region definition, allowing users to define complex regions through simple operations (like specifying start and end points) while the setting device converts these into multiple simple geometric shapes that the controller can efficiently process.
2Measurement precision
If a complex-shaped operation prohibition region is defined, then accuracy of safety boundary is improved, but device complexity increases
Solution Approach 1:
The complex operation prohibition region is segmented into multiple simple geometric shapes. Each simple shape is easy to define and calculate, but their combination through union operations creates an accurately bounded complex region. This segmentation approach maintains safety boundary accuracy while simplifying the computational representation.
Solution Approach 2:
The setting device creates a simplified digital representation (copy) of the operation prohibition region using basic geometric primitives. Instead of storing and processing complex boundary definitions, the system uses multiple simple shapes that approximate the complex region, reducing device complexity while preserving the essential safety boundaries.
3Ease of manufacture
If sequential determination process is used for operation prohibition region checking, then implementation simplicity is improved, but productivity decreases
Solution Approach 1:
The determination process is segmented into independent checks for each simple geometric shape. Instead of one sequential check through a complex region, the controller performs multiple simple inclusion tests (point-in-triangle, point-in-quadrilateral, etc.). Each test is computationally inexpensive and can be executed quickly, maintaining implementation simplicity while dramatically improving overall productivity.
Data Source
AI summary
A control system including a selective compliance assembly robot arm (SCARA) robot is provided. The SCARA robot includes a first arm configured to be rotatable around a first rotation shaft, a second arm configured to be rotatable around a second rotation shaft arranged parallel to the first rotation shaft and provided on the first arm, and a main shaft configured to be drivable in a direction parallel to the second rotation shaft and provided on the second arm. The control system includes a setting unit providing a user interface for receiving a setting of a two-dimensional operation prohibition region with respect to a point of interest on the SCARA robot. The operation prohibition region corresponds to an area on a plane orthogonal to the main shaft. The control system includes an extension unit two-dimensionally extending the operation prohibition region through an extension in a direction of the main shaft.