Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots; a set of sensors, including a first sensor, configured to sense respective poses of the set of robots; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.

Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots using a set of targets disposed on and/or in the cell floor; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.

Abstract: A method of using a robotic arm to position a part of an object at a first target position with respect to an object build frame comprising obtaining, by the robotic arm, the part; determining a move operation to apply to the part that moves the part to a second target position spatially separated from the object build frame; moving, by the robotic arm, the part according to the move operation; obtaining an actual position of the part; determining a correction operation to apply to the part that moves the part from the actual position to the second target position; moving, by the robotic arm, the part according to the correction operation; determining a relative move operation to apply to the part that moves the part from the second target position to the first target position; and moving, by the robotic arm, the part according to the relative move operation.

Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots; a set of sensors, including a first sensor, configured to sense respective poses of the set of robots; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.

Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots using a set of targets disposed on and/or in the cell floor; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.

Abstract: A method of cleaning a surface includes the steps of directing a laser beam to the surface at a predetermined location and capturing for the predetermined location a) data relating to an acoustic response induced by interaction of the laser with the surface, b) data relating to the optical reflectivity of the surface at the predetermined location, and c) data relating to the spectrographic response of a plume generated by interaction of the laser with the surface.

Abstract: A method of producing an aircraft assembly tool for supporting an aircraft component comprising the steps of: determining the predetermined positions and orientations in space at which the component should be supported; designing a fixture frame to provide support at predetermined locations of the frame associated with said predetermined positions; constructing the fixture frame by selecting elongate members having predetermined lengths and connecting the elongate members together with releasable fasteners; constructing a plurality of pick-up devices, each having a receiving element for carrying the component; mounting the pick-up devices to the fixture frame at the predetermined locations; and moving each receiving element about/around the orthogonal axes to align the receiving element with a respective predetermined position and orientation.

Abstract: This invention provides a method of producing an aircraft assembly tool for supporting an aircraft component comprising:

Abstract: A method of producing an aircraft assembly tool for supporting an aircraft component comprising calculating a plurality of predetermined positions and corresponding orientations in space at which the aircraft is to be supported, designing a fixture frame at predetermined locations of the frame associated with the predetermined positions, constructing the fixture frame, providing pick-up devices with receiving elements, securing the pick-up devices to the fixture frame, and adjusting each receiving element.

Abstract: This invention provides a method of producing an aircraft assembly tool for supporting an aircraft component comprising: