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Publication Details
| Published Date: | |
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| Authors: | Ed Ingham PhD, Steve Ihlenfeldt, Joe Calkins PhD, Bob Salerno PhD |
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Abstract
This paper presents concepts and applications for development of a Realtime Industrial Grade Global Metrology System for industrial manufacturing and robot cells.
The technology allows the observation of all the objects of interest in a given manufacturing cell with industrial grade precision, and uses that information to improve the accuracy and precision of the assembly/manufacturing/inspection process.
To effectively saturate the area, the technology utilizes multiple metrology sensors. This unique approach leverages advanced algorithms to fuse observations from all the sensors in the cell. This can include Laser Tracker data, High Speed Photogrammetry data, and the novel introduction of Inertial Dimensional Metrology data provided by precision Inertial Measurement Units. Additionally, metrology data from the machine and robotic devices within the cell can by fused into the solution.
The resulting data is used to initially calibrate all of the robots/machines in the cell and improve their accuracy. Calibration begins with a series of poses to calculate parameters for an advanced kinematic model. Once calibrated, AI algorithms with metrology feedback allow for kinematic model adjustment while in dynamic motion. Additionally, the metrology feedback is also used for precision path corrections to nominal.
In a cell with multiple robots, they can all be calibrated, and the paths can be synchronized with the common global metrology reference system. This allows for extremely precise collaboration between the parts and robots in the cell and higher precision throughout the working volume.
Additionally, part position can be constantly monitored and corrected. Dynamic adjustments to the assembly process can be applied in Realtime.
Since each of the operations performed in the cell have been observed by an industrial grade metrology system the inspection process is intrinsic with the manufacturing process, potentially eliminating downstream or offline inspection.
