Synchronous robotic operation on a structure having a confined space

A method for positioning an end effector within a confined space of a structure, the method comprising:

• using a compliant robotic arm to move the end effector through an access port of the structure and into the confined space;
• using the robotic arm to coarsely position the end effector over a location of a surface in the confined space;
• using the robotic arm to press the end effector against the surface;
• and
• using a device attached to the end effector to shift the end effector along the surface to precisely position the end effector at the location.

A method performed on a pre-assembled wing box of an aircraft, the wing box pre-assembled with a plurality of fasteners, the method comprising

• using a first robotic system to move a first end effector inside the wing box over first and second fasteners, and generating first vectors for the first and second fasteners;
• using a second robotic system to move a second end effector outside the wing box over the first and second fasteners and generating second vectors for the first and second fasteners;
• and
• using the first and second vectors to compute permanent fastener locations between the first and second fasteners, the permanent fastener locations for the first robotic system computed from the first vectors, the permanent fastener locations for the second robotic system computed from the second vectors.