Coordinate Measurement Systems Committee Albuquerque, New Mexico April 13-17, 2001 Scanners – Robots – Measurement Plans Synergy in Motion Bruce Thomas.

Coordinate Measurement Systems CommitteeCoordinate Measurement Systems CommitteeAlbuquerque, New Mexico

April 13-17, 2001

Scanners – Robots – Measurement PlansScanners – Robots – Measurement Plans Synergy in MotionSynergy in Motion

Bruce ThomasBruce ThomasJoe CalkinsJoe CalkinsRobert Salerno, Ph.D.Robert Salerno, Ph.D.Scott SandwithScott Sandwith

Peter HowardPeter HowardJack ShryJack Shry

New River Kinematics

FanucRobotics

MetricVision

August 13-17 2001August 13-17 2001Coordinate Measurement System CommitteeCoordinate Measurement System Committee

Albuquerque, New MexicoAlbuquerque, New MexicoNew River Kinematics - MetricVisionNew River Kinematics - MetricVision

Scanners, Robots, Measurement Plans – Synergy in MotionScanners, Robots, Measurement Plans – Synergy in Motion

Motivation Motivation Metrology Metrology SolutionSolution

Lidar Scanner Lidar Scanner • Target-less Technology Target-less Technology Feature based measurementsFeature based measurements• Ideal for Ideal for unattendedunattended and and automatic automatic inspectioninspection

Need to automatically reposition to scan entire Need to automatically reposition to scan entire object (ex: Car)object (ex: Car)

Metrology software system architecture required Metrology software system architecture required to integrate the measurement system, CAD to integrate the measurement system, CAD design, and robotic manipulatordesign, and robotic manipulator

Measurement Plan capability required to Measurement Plan capability required to automatically acquire and analyze the dataautomatically acquire and analyze the data

It’s It’s Cool Cool !!!!




Component 1: Lidar ScannerComponent 1: Lidar Scanner Simple Automation: Simple Automation: ProgrammableProgrammable part and part and

tool tool featurefeature inspections, alignments, inspections, alignments, reports, initiate programs reports, initiate programs remotelyremotely

Accuracy: Accuracy: 65 65 m at 10 mm at 10 m Surface/Feature Measurements: Surface/Feature Measurements:

• MV200 requires only 1 pico-watt (10-12W) of MV200 requires only 1 pico-watt (10-12W) of return signal return signal any surface any surface

Fast: 1,000 measurements per second Fast: 1,000 measurements per second Versatile: Used in varied configurationsVersatile: Used in varied configurations

• Portable independent measurement systemPortable independent measurement system• Part of an automated robotic metrology Part of an automated robotic metrology

system system Non-contact Non-contact Target-lessTarget-less Features Features

No Photogrammetry Dots No Photogrammetry Dots No Laser Tracker SMRs No Laser Tracker SMRs No Retro Reflectors No Retro Reflectors No Probes No Probes No Contact No Contact




Component 2: RobotComponent 2: Robot ReliableReliable Robot for Robot for

handlinghandling Long reach Long reach

• 2.1 times more with 2.1 times more with Flip Flip Over MechanismOver Mechanism

Variety of layoutsVariety of layouts A simple motor direct A simple motor direct

drive mechanismdrive mechanism Minimizes the Minimizes the

interference areainterference area Small/slim wrist allows Small/slim wrist allows

the robot to operate in a the robot to operate in a small spacesmall space




Component 3: Integration SoftwareComponent 3: Integration Software

Programmable measurement planning with dynamic real time graphical interface

Distributed computing capable (real-time multi-task measurement and analysis across multiple computers)

Instrument compensation Synchronous Measurement between

Instruments (Master-Slave or Synchronous Polled Modes)

TCP/IP interfaces to instruments to enable distributed processing

Supports remote process control and monitoring.

Common instrument user-interface




System IntegrationSystem Integration

One interface controls and One interface controls and coordinates the system coordinates the system componentscomponents

Extrinsic Calibration through In-Extrinsic Calibration through In-line Robot Control Model:line Robot Control Model:• Tool to CLR FrameTool to CLR Frame• Robot Base to WORLDRobot Base to WORLD

Integrated graphical automation Integrated graphical automation programming for n systemsprogramming for n systems

Distributed computingDistributed computing Remote monitoring and controlRemote monitoring and control




Adaptive Scanning In ActionAdaptive Scanning In Action




Adaptive Scanning: Close-upAdaptive Scanning: Close-up




Benefits / ApplicationsBenefits / Applications Increased workspaceIncreased workspace for metrology equipment by for metrology equipment by

extending visibilityextending visibility Integrates reliable Integrates reliable hybridhybrid technologies on a technologies on a

common platformcommon platform through general through general object orientedobject oriented architecture architecture

Adaptive Automation improves process reliability Adaptive Automation improves process reliability • If the system can’t quite see the feature it can be If the system can’t quite see the feature it can be

programmed to programmed to interactively hunt it downinteractively hunt it down Custom configurationsCustom configurations fit the application fit the application

• Robot moves instrumentRobot moves instrument• Robot move the partRobot move the part• Adaptive controlAdaptive control• Etc…Etc…

Integrated robot Integrated robot performance enhancementsperformance enhancements (feedback / calibration loop)(feedback / calibration loop)




MeasurementPlan

MeasurementPlan

Robot Control Module


Process TrackingDatabase


MS OfficeXPReporting


Lidar ScannerInstrument Interface


STEP ModelSTEP Model

Integration Software


System ArchitectureSystem Architecture




MeasurementPlan

MeasurementPlan









STEP ModelSTEP Model



Questions – Future DirectionQuestions – Future Direction

Coordinate Measurement Systems Committee Albuquerque, New Mexico April 13-17, 2001 Scanners – Robots – Measurement Plans Synergy in Motion Bruce Thomas.

Documents

system integration

robot reliable robot

contact slide

surfacefeature measurements

handling reliable robot

small space slide

interface controls

tool feature inspections