Method of calibrating a machine having at least two rotation axes

A method of manufacturing a part with a machine having a component rotatable around a first rotation axis, the component pivotable about a second rotation axis by moving the component along an arc-shaped cradle, the method comprising:

• measuring a first set of 3-dimensional positions of a reference feature for at least three angular positions of the reference feature around the first rotation axis and a first reference angular position around the second rotation axis, the reference feature fixed relative to the component;
• determining a first coordinate system of the component at the first reference angular position by determining a position and orientation of the first rotation axis in the first reference angular position and calibrating a reference coordinate system of the machine based on the first coordinate system for operating the machine with the component at the first reference angular position;
• machining a first feature in the part when the part is at the first reference angular position by using the first coordinate system;
• pivoting the component about the second rotation axis by moving the component along the arc-shaped cradle from the first reference angular position to a second reference angular position, a pivot point defined at an intersection between the first rotation axis and the second rotation axis, the pivot point being axially offset from the component relative to the first rotation axis;
• measuring a second set of 3-dimensional positions of the reference feature for at least three angular positions of the reference feature around the first rotation axis and the second reference angular position around the second rotation axis;
• determining a second coordinate system of the component at the second reference angular position by determining a position and orientation of the first rotation axis in the second reference angular position and calibrating the reference coordinate system of the machine based on the second coordinate system for operating the machine with the component at the second reference angular position, the calibrating of the reference coordinate system of the machine based on the second coordinate system includes computing a difference between the first coordinate system and the second coordinate system;
• and
• machining a second feature in the part when the part is at the second reference angular position by using the computed difference, the machining of the second feature including transforming instruction coordinates of a tool of the machine using the computed difference.