Measurement-based corrections for structure assembly

A non-transitory computer-readable medium storing computer executable code for automatically joining parts, the computer executable code when executed by a processor causes the processor to:

• determine a target first position in a reference frame;
• control a first robotic arm to move a first part to the target first position;
• control a second robotic arm retaining a second part configured to be joined with the first part;
• measure the first part at the target first position to obtain a measured first position;
• perform a first operation including determining a first difference between the measured first position and the target first position, determining whether the first difference exceeds a first tolerance, and if the first difference exceeds the first tolerance, controlling the first robotic arm to move the first part to compensate for the first difference;
• joining the first and second parts such that the first and second parts are joined without contact.

A system for automatically joining parts, comprising:

• a first robot for manipulating a first part;
• a second robot for manipulating a second part;
• a measurement instrument;
• and
• at least one controller, coupled to the first robot, the second robot, and the measurement instrument, wherein the at least one controller transmits signals to the first robot, the second robot, and the measurement instrument to:
• move the first part to a target first position in a reference frame;
• measure, with the measurement instrument, the first part at the target first position to obtain a measured first position;
• perform a first operation including determining a first difference between the measured first position and the target first position, determining whether the first difference exceeds a first tolerance, and if the first difference exceeds the first tolerance, controlling the first robot to move the first part to compensate for the first difference;
• join the first part and the second part such that the first and second parts are joined without contact.

A method for automatically joining parts, comprising:

• determining a target first position in a reference frame;
• controlling a first robotic arm to move a first part to the target first position;
• measuring the first part at the target first position to obtain a measured first position;
• determining a target second position based on the measured first position;
• controlling a second robotic arm to move a second part to the target second position;
• measuring the second part at the target second position to obtain a measured second position;
• performing an operation including determining a difference between the measured second position and the target second position, determining whether the difference exceeds a tolerance, and if the difference exceeds the tolerance, controlling the first robotic arm or the second robotic arm to move the first part or the second part to compensate for the difference;
• and
• joining the first and second parts such that the first and second parts are joined without contact.

A non-transitory computer-readable medium storing computer executable code for automatically joining parts, the code when executed by a processor causes the processor to:

• determine a target first position in a reference frame;
• control a first robotic arm to move a first part to the target first position;
• measure the first part at the target first position to obtain a measured first position;
• determine a target second position based on the measured first position;
• control a second robotic arm to move a second part to the target second position;
• measure the second part at the target second position to obtain a measured second position;
• perform an operation including determining a difference between the measured second position and the target second position, determining whether the difference exceeds a tolerance, and if the difference exceeds the tolerance, controlling the first robotic arm or the second robotic arm to move the first part or the second part to compensate for the difference;
• and
• join the first part and the second part such that the first and second parts are joined without contact.

A system for automatically joining parts, comprising:

• a first robot for manipulating a first part;
• a second robot for manipulating a second part;
• a measurement instrument;
• and
• at least one controller, coupled to the first robot, the second robot, and the measurement instrument, wherein the at least one controller transmits signals to the first robot, the second robot, and the measurement instrument to:
• move the first part to a target first position in a reference frame;
• measure, with the measurement instrument, the first part at the target first position to obtain a measured first position;
• move the second part to a target second position in the reference frame, the target second position based on the measured first position;
• measure, with the measurement instrument, the second part at the target second position to obtain a measured second position;
• perform an operation including determining a difference between the measured second position and the target second position, determining whether the difference exceeds a tolerance, and if the difference exceeds the tolerance, controlling the first robotic arm or the second robot to move the first part or the second part to compensate for the difference;
• and
• join the first part and the second part such that the first and second parts are joined without contact.