In order to adjust the volume of the combustion chamber with high accuracy, a cylinder head 200 includes a recess 204 constituting part of the combustion chamber of the engine and a mating surface for a cylinder block. The recess 204 includes a plurality of openings to which a plurality of specific members are attached respectively. The mating surface 202 is formed to have a cutting stock with respect to three-dimensional shape data of the cylinder head 200 designed to have a target combustion chamber volume. The adjusting method further comprises measuring the surface shape of the recess and the shape of the mating surface around the recess by successively changing the irradiation position of a laser beam using a line laser displacement meter. The adjusting method further comprises removing data of regions equivalent to the plurality of openings from measurement data by comparing the measurement data obtained by the line laser displacement meter with the three-dimensional shape data. The adjusting method still further comprises: calculating the volume of the recess 204 based on the measurement data from which the regions equivalent to the plurality of openings are removed; and deciding the cutting amount of the mating surface 202 by comparing the calculated volume of the recess 204 with a volume of the recess 204 based on the three-dimensional shape data.

A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.

A machine tool rapid compensation system includes: a trigger acquisition module, a laser interferometry measurement module, a data analysis and compensation module, and a communication module. The trigger acquisition module receives a trigger acquisition instruction, converts an encoder position value into a pulse value, transmits the pulse value to the laser interferometry measurement module, retrieves parameter information and compensation point information of a machine tool from a numerical control system, and generates a machine tool operation code and a measurement preparation signal. The laser interferometry measurement module receives the measurement preparation signal and the pulse value to obtain error data, environmental data, and expansion compensation values. The data analysis and compensation module collects the error data, the environmental data, and the expansion compensation values to obtain precision parameters and compensation parameters, and transmits the precision parameters and the compensation parameters to the numerical control system through the communication module.

A system and method for measuring a distance to a target work surface to precisely position a tool assembly coupled to an actuator. The method includes measuring a distance to a work surface using a distance sensor, moving the tool assembly into an approach position, the approach position being adjacent to a location on the work surface. The tool assembly is then moved from the approach position to the location on the work surface pursuant to a soft landing procedure. The soft landing procedure may include determining that the tool assembly has moved into soft contact with the target work surface. Methods also include topologically mapping a work surface, comparing map data to predefined data, and adjusting a positioning routine. Additionally, methods include optimizing actuator movements to timely measure distances from a distance sensor to a location on a work surface with minimal actuator movement.

A processing apparatus includes an articulated robot having an arm distal-end portion to which a processing tool configured with a cutting edge portion and a profiling portion and a shape measurement unit are attached, and a processor. The processor, in a workpiece set state, recognizes, by measuring a shape of the workpiece using the shape measurement unit, a tilt of a profiled surface portion of the workpiece and a position of a process portion of the workpiece to generate processing-target-portion information based on the position of the process portion, generates processing-point information indicating a processing point, moves the arm distal-end portion to the processing point based on the processing-point information, controls an orientation of the processing tool in accordance with the tilt of the profiled surface portion of the workpiece to perform the specified processing on the workpiece using the processing tool.