Movable gantry system configured to interface with jigs of different sizes

A method implemented by a system, comprising:

• performing a datuming process prior to moving an end effector that is coupled with a movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:
• determining, from a data store, a datum on a part;
• determining, based on a location on a part mounted on a jig and a relative position between the movable system and the jig, a three dimensional position of a datum point in a coordinate system of the movable system;
• determining, by using at least a sensor, a surface of the part;
• determining an angle needed to normalize the end effector to the surface of the part at the datum point,
• determining, based on the angle, at least a rotation about an X axis, a Y axis, or a Z axis of the coordinate system of the movable system, and
• determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X axis, the Y axis, or the Z axis to move and rotate the end effector from a current position to the three dimensional position and about the X axis, the Y axis, or the Z axis;
• and
• store, in the data store, information about the operation upon the operation being performed by the end effector after the datuming process based on the translational X, Y, and Z data and on the rotational data.

A non-transitory computer-readable storage medium comprising computer-readable instructions that, upon execution on a system, configure the system to perform steps comprising:

• performing a datuming process prior to moving an end effector that is coupled with a movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:
• determining, based on a location on a part mounted on a jig and a relative position between the movable system and the jig, a three dimensional position of a datum point in a coordinate system of the movable system;
• storing, in a data store, the datum point;
• determining, by using at least a sensor, a surface of the part;
• determining an angle needed to normalize the end effector to the surface of the part at the datum point,
• determining, based on the angle, at least a rotation about an X axis, a Y axis, or a Z axis of the coordinate system of the movable system, and
• determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X axis, the Y axis, or the Z axis to move and rotate the end effector from a current position to the three dimensional position and about the X axis, the Y axis, or the Z axis;
• and
• storing, in the data store, information about the operation upon the operation being performed by the end effector after the datuming process based on the translational X, Y, and Z data and on the rotational data.