Scanners

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Scanners Robots Measurement Plans Synergy in
Motion

• Bruce Thomas
• Joe Calkins
• Robert Salerno, Ph.D.
• Scott Sandwith

Peter Howard Jack Shry
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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
• Its Cool !!

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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

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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

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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

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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

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Adaptive Scanning In Action
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Adaptive Scanning Close-up
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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 cant 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)

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System Architecture
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Questions Future Direction
What's Next?