Coordinate measurement system having at least two limbs

A coordinate measuring machine, CMM, for determining spatial coordinate data of an object point on a workpiece, the CMM comprising a first limb and a probing element, wherein:

• the first limb comprises a first set of joints, a first set of links and connects the probing element at a sensing end to a first proximal end,
• the probing element is configured to provide probing data comprising interaction information between a sensing area of the probing element and the object point, and the CMM is configured to determine an actual pose of the sensing area,
• wherein the CMM comprises a second limb and a coupling interface, wherein:
• the second limb comprises a second set of links and/or a second set of joints, and connects the coupling interface at a coupling end to a second proximal end, wherein the second proximal end is mechanically constrained to the first proximal end,
• the coupling interface is configured to provide coupling data comprising interaction information between a coupling area of the coupling interface and a reference point, wherein the object point has a defined spatial relationship to the reference point, in particular wherein the reference point is comprised by the workpiece, and
• the CMM is further configured:
• to determine an actual pose of the coupling area,
• to provide coupling pose change data based on the actual pose of the coupling area and the coupling data, and
• to provide the coordinate data of the object point based on the probing data, the actual pose of the sensing area, and the coupling pose change data.