1. 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
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 !!

3. 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

4. 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

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
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

7. Adaptive Scanning In Action

8. Adaptive Scanning: Close-up

9. 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)

10. System Architecture

11. Questions – Future Direction
What's Next?