Systems, methods, and associated components for robotic manipulation of physical objects. The physical objects include three-dimensional gripping features configured to be detected by an optics system and gripped by an end-effector of a robotic arm with sufficient gripping force to move the physical objects against the force of gravity. Sets of the physical objects can have different sizes and shapes and, in some examples, include identically constructed three-dimensional gripping features.

A method and apparatus for machining a part for an assembly. First sensor data is acquired for a surface of a first part from a first sensor system. Second sensor data is acquired for a set of existing holes in a second part from a second sensor system. A surface model of the surface of the first part is generated using the first sensor data. First offset data is computed based on a nominal model of a third part that is nominally positioned relative to the surface model within a three-dimensional virtual environment. Second offset data is computed for the set of existing holes using the second sensor data. Overall offset data is generated using the first and second offset data, wherein the overall offset data is used to drill a set of holes in the third part for use in fastening the third part to the second part.

A numerical controller that machines a workpiece to create multiple machined holes with a predetermined machining position and a predetermined machining shape in the workpiece includes a thermal influence calculation unit that determines a temporal change in a heat distribution of the workpiece for each of the machined holes when the machined hole having the machining shape is created at the machining position, a machining position determination unit that determines a next machined hole that does not cause thermal deformation of the workpiece on the basis of an elapsed time that elapses from creation of a previously machined hole to creation of a next machined hole and a heat distribution resulting from creation of the previously machined hole and the next machined hole, and a machining unit that creates the machined holes. The numerical controller can determine the machining positions taking the thermal deformation into account.

An automated system for manipulating a workpiece includes a machining device, a locating device configured to determine a position of a workpiece, and a positioning system operatively connected to the machining device and being configured to adjust a position of the machining device to align a centerline of the machining device with a longitudinal axis of the workpiece, based upon the determined position of the workpiece. The machining device includes a stabilizing mechanism to engage the workpiece to maintain the workpiece in the determined position, and a cutting element for performing a machining operation on the workpiece.

Systems, methods, and associated components for robotic manipulation of physical objects. The physical objects include three-dimensional gripping features configured to be detected by an optics system and gripped by an end-effector of a robotic arm with sufficient gripping force to move the physical objects against the force of gravity. Sets of the physical objects can have different sizes and shapes and, in some examples, include identically constructed three-dimensional gripping features.

A method and system for drilling holes in a repaired composite structure. Four corner holes are selected from holes outside of a repaired area in the repaired composite structure. The four corner holes define a rectangle encompassing the repaired area with sides that each include a pair of corner holes with intermediate holes in between. A surface representation is generated based on a scan of the repaired composite structure that includes the rectangle. Side hole locations between a corresponding pair of corner holes are generated for each side of the rectangle. Grid vector lines are generated between corresponding pairs of side hole locations on opposite sides of the rectangle. The grid vector lines intersect each other at intersection points on the surface representation. Point coordinates are determined for intersection points that lie within the repaired area. A path is created for drilling holes at point coordinates for the intersection points.

A numerical controller that machines a workpiece to create multiple machined holes with a predetermined machining position and a predetermined machining shape in the workpiece includes a thermal influence calculation unit that determines a temporal change in a heat distribution of the workpiece for each of the machined holes when the machined hole having the machining shape is created at the machining position, a machining position determination unit that determines a next machined hole that does not cause thermal deformation of the workpiece on the basis of an elapsed time that elapses from creation of a previously machined hole to creation of a next machined hole and a heat distribution resulting from creation of the previously machined hole and the next machined hole, and a machining unit that creates the machined holes. The numerical controller can determine the machining positions taking the thermal deformation into account.

A method and system for drilling holes in a repaired composite structure. Four corner holes are selected from holes outside of a repaired area in the repaired composite structure. The four corner holes define a rectangle encompassing the repaired area with sides that each include a pair of corner holes with intermediate holes in between. A surface representation is generated based on a scan of the repaired composite structure that includes the rectangle. Side hole locations between a corresponding pair of corner holes are generated for each side of the rectangle. Grid vector lines are generated between corresponding pairs of side hole locations on opposite sides of the rectangle. The grid vector lines intersect each other at intersection points on the surface representation. Point coordinates are determined for intersection points that lie within the repaired area. A path is created for drilling holes at point coordinates for the intersection points.

An automated system for manipulating a workpiece includes a machining device, a locating device configured to determine a position of a workpiece, and a positioning system operatively connected to the machining device and being configured to adjust a position of the machining device to align a centerline of the machining device with a longitudinal axis of the workpiece, based upon the determined position of the workpiece. The machining device includes a stabilizing mechanism to engage the workpiece to maintain the workpiece in the determined position, and a cutting element for performing a machining operation on the workpiece.

A method of inspecting an object with a camera probe for capturing an image of an object, the camera probe being movable along a path by a measurement apparatus, at least a part of the camera probe being rotatable about at least one axis. The method includes: a) the measurement apparatus moving the camera probe relative to the object along an inspection path and b) for at least one period as the camera probe moves along the inspection path: turning at least a part of the camera probe about the at least one axis thereby slowing the passage of a feature of interest on the object across the camera probe's field of view; and capturing at least one image of the feature of interest during at least a portion of the turning.