Scanners – Robots – Measurement Plans Synergy in Motion

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Presentation transcript:

Scanners – Robots – Measurement Plans Synergy in Motion Bruce Thomas Joe Calkins Robert Salerno, Ph.D. Scott Sandwith Peter Howard Jack Shry

Motivation  Metrology Solution Lidar Scanner Target-less Technology  Feature based measurements Ideal for unattended and automatic inspection 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 Measurement Plan capability required to automatically acquire and analyze the data It’s Cool !!

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

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

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

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

Adaptive Scanning In Action

Adaptive Scanning: Close-up

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

System Architecture

Questions – Future Direction What's Next?