Path repeatable machining for full sized determinant assembly

An apparatus for machining a part, the apparatus comprising:

• a positioner having a first end;
• an end effector including a housing, the housing being coupled to the first end of the positioner;
• a machining tool included in the housing;
• a plurality of sensors configured to measure a position and orientation of the end effector and machining tool relative to the part based, at least in part, on distance measurements;
• a coupling tool coupled to the housing, wherein the coupling tool is configured to mechanically couple the end effector with the part;
• and
• one or more processors configured to generate a first spatial representation and a second spatial representation of the machining tool, and further configured to identify a plurality of differences that result from the coupling and that comprise a rotational change and translational change identified based, at least in part, on a comparison of the first spatial representation and the second spatial representation, wherein the identifying of the plurality of differences enables adjusting of the machine tool to compensate for the identified differences.

A method for machining a part, the method comprising:

• moving an end effector to a position identified by a machining pattern associated with the part, the end effector including a machining tool and a coupling tool;
• generating a first spatial representation identifying a first orientation of the machining tool relative to the part;
• mechanically coupling, using the coupling tool, the end effector to the part at the position;
• generating, after the coupling and using a processor, a second spatial representation identifying a second orientation of the machining tool relative to the part;
• identifying, using the processor, a plurality of differences that result from the coupling and that comprise a rotational change and translational change identified based, at least in part, on a comparison of the first spatial representation and the second spatial representation;
• and
• adjusting the machining tool in response to determining that the second spatial representation is different than the first spatial representation.