1. Coordinate Measurement Systems Committee Albuquerque, New Mexico April 13-17, 2001 Scanners – Robots – Measurement Plans Synergy in Motion Bruce Thomas Joe Calkins Robert Salerno, Ph.D. Scott Sandwith Peter Howard Jack Shry

2. Motivation  Metrology Solution Lidar Scanner Lidar Scanner Target-less Technology  Feature based measurementsTarget-less Technology  Feature based measurements Ideal for unattended and automatic inspectionIdeal for unattended and automatic inspection Need to automatically reposition to scan entire object (ex: Car) Need to automatically reposition to scan entire object (ex: Car) Metrology software system architecture required to integrate the measurement system, CAD design, and robotic manipulator Metrology software system architecture required to integrate the measurement system, CAD design, and robotic manipulator Measurement Plan capability required to automatically acquire and analyze the data Measurement Plan capability required to automatically acquire and analyze the data It’s Cool !! It’s Cool !!

3. Component 1: Lidar Scanner Simple Automation: Programmable part and tool feature inspections, alignments, reports, initiate programs remotely Simple Automation: Programmable part and tool feature inspections, alignments, reports, initiate programs remotely Accuracy: 65 m at 10 m Accuracy: 65 m at 10 m Surface/Feature Measurements: Surface/Feature Measurements: MV200 requires only 1 pico-watt (10-12W) of return signal  any surfaceMV200 requires only 1 pico-watt (10-12W) of return signal  any surface Fast: 1,000 measurements per second Fast: 1,000 measurements per second Versatile: Used in varied configurations Versatile: Used in varied configurations Portable independent measurement systemPortable independent measurement system Part of an automated robotic metrology systemPart of an automated robotic metrology system Non-contact  Target-less  Features Non-contact  Target-less  Features  No Photogrammetry Dots  No Laser Tracker SMRs  No Retro Reflectors  No Probes  No Contact

4. Component 2: Robot Reliable Robot for handling Reliable Robot for handling Long reach Long reach 2.1 times more with Flip Over Mechanism2.1 times more with Flip Over Mechanism Variety of layouts Variety of layouts A simple motor direct drive mechanism A simple motor direct drive mechanism Minimizes the interference area Minimizes the interference area Small/slim wrist allows the robot to operate in a small space Small/slim wrist allows the robot to operate in a small space

5. Component 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

6. System Integration One interface controls and coordinates the system components One interface controls and coordinates the system components Extrinsic Calibration through In- line Robot Control Model: Extrinsic Calibration through In- line Robot Control Model: Tool to CLR FrameTool to CLR Frame Robot Base to WORLDRobot Base to WORLD Integrated graphical automation programming for n systems Integrated graphical automation programming for n systems Distributed computing Distributed computing Remote monitoring and control Remote monitoring and control

7. Adaptive Scanning In Action

8. Adaptive Scanning: Close-up

9. Benefits / Applications Increased workspace for metrology equipment by extending visibility Increased workspace for metrology equipment by extending visibility Integrates reliable hybrid technologies on a common platform through general object oriented architecture Integrates reliable hybrid technologies on a common platform through general object oriented architecture Adaptive Automation improves process reliability Adaptive Automation improves process reliability If the system can’t quite see the feature it can be programmed to interactively hunt it downIf the system can’t quite see the feature it can be programmed to interactively hunt it down Custom configurations fit the application Custom configurations fit the application Robot moves instrumentRobot moves instrument Robot move the partRobot move the part Adaptive controlAdaptive control Etc…Etc… Integrated robot performance enhancements (feedback / calibration loop) Integrated robot performance enhancements (feedback / calibration loop)

10. System Architecture

11. Questions – Future Direction