Machine for performing machining operations on a workpiece and method of controlling same

A computer controlled machine for performing machining operations, on a work-piece, the machine having a carriage with a movable head containing a tool for performing the machining operations on the work-piece, the computer having a computer program for providing first signals to the head for controlling the movement thereof to specific spatial relationships with the work-piece so that the tool can perform the machining operations, the machine comprising:

• a laser position determination system for determining the actual spatial relationship of the carriage to work-piece;
• and to continuously determine the spatial relationship of the head during the performance of machining operations and providing a second signal indicative of the actual position;
• and
• the computer program adapted to compare said second signal to the first signal and to adjust the first signal so that the head is positioned to the specific spatial relationships.

A method of increasing the accuracy of a machine for performing machining operations on a work-piece, the machine having a carriage with a robotic arm, the robotic arm having a head containing a tool for performing the machining operations on the work-piece, the head movable to a computed spatial relationships to the work-piece directed by a first signal from the computer based on a predetermined spatial relationship between the carriage and work-piece, the method comprising the steps of:

• determining the actual spatial relationship between the carriage and work-piece prior to machining operations and providing a second signal representative thereof;
• continuously determining the actual spatial relationship between the head and work-piece during the performance of machining operations and providing a third signal indicative of the actual spatial relationship therebetween;
• and
• adjusting the first signal based on the difference between the first and signal and the second and third signals such that head remains in the computed spatial relationships to the work-piece.

A machine for performing machining operations on a work-piece comprising:

• a portable carriage;
• a robotic arm mounted on said carriage, said robotic arm having a head for mounting a tool for machining the work-piece;
• a laser position determination system comprising:
• at least one first laser target mounted on said work-piece;
• at least one second laser target mounted on said carriage;
• at least one third laser target mounted on said head;
• and
• a laser transceiver for determining the spatial relationship of said carriage, work-piece, and said head during machining operations, respectively, and to provide output signals representative thereof;
• and
• a computer having a first part of a computer program for machining the work-piece with said tool based on a preset spatial relationship between said carriage and the work-piece, said computer having a second part of said computer program adapted to adjust said first part of the said computer program in response to said output signals such that said head is properly positioned during the machining operations should said work-piece or said robotic arm introduce positional errors.

A machine for performing machining operations on a work-piece comprising:

• a portable carriage;
• a robotic arm mounted on said carriage, said robotic arm having a head for mounting a tool for machining the work-piece;
• a laser position determination system comprising:
• at least one first laser target mounted on said work-piece;
• at least one second laser target mounted on said carriage;
• at least one third laser target mounted on said head;
• and
• first, second and third laser transceiver assemblies for directing laser beams at said first, second and third at least one targets respectively and to provide first, second and third signals representative of spatial relationship of said carriage, work-piece, and said head during machining operations, respectively;
• and
• a computer having a first part of a computer program for machining the work-piece with said tool based on a preset spatial relationship between said carriage and the work-piece, said computer having a second part of said computer program adapted to adjust said first part of the said computer program in response to said first, second and third signals such that said head is properly positioned during the machining operations should said work-piece or or said robotic arm introduce positional errors.