Coordinate Measurement Systems Committee
Albuquerque, New Mexico
April 13-17, 2001
Scanners – Robots – Measurement Plans
Synergy in Motion
Bruce Thomas Peter Howard
Joe Calkins Jack Shry
Robert Salerno, Ph.D.
Scott Sandwith
New River
MetricVision
Kinematics
Fanuc
Robotics
Scanners, Robots, Measurement Plans – Synergy in Motion
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 !!
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
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
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
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
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
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
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
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
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
Adaptive Scanning In Action
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
Adaptive Scanning: Close-up
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
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)
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
System Architecture
STEP Model
Measurement Lidar Scanner
Plan Instrument Interface
Integration
Software
Robot MS OfficeXP
Control Module Reporting
Process
Tracking
Database
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion
Questions – Future Direction
STEP Model
Measurement Lidar Scanner
Plan Instrument Interface
Integration
Software
Robot MS OfficeXP
Control Module Reporting
Process
Tracking
Database
Coordinate Measurement System Committee
August 13-17 2001 New River Kinem atics - MetricVision Albuquerque, New Mexico