Systems and methods for improving precision of robot based laminography

A method comprising:

• controlling a first robotic arm to place an x-ray tube in a first pre-scanning position proximate a region of interest (ROI) of an asset to be inspected, wherein the x-ray tube is coupled to the first robotic arm by a first precise movement device;
• controlling a second robotic arm to place an x-ray detector in a second pre-scanning position opposite the first pre-scanning position such that the ROI is between the x-ray tube and the x-ray detector, wherein the x-ray detector is coupled to the second robotic arm by a second precise movement device;
• controlling the first precision movement device to move the x-ray tube along a first precise path proximate the ROI while emitting x-rays through the asset and while the first robotic arm remains fixed in the first pre-scanning position;
• and
• controlling the second precision movement device to move the x-ray detector along a second precise path proximate the ROI while receiving the x-rays emitted through the asset by the x-ray tube and while the second robotic arm remains fixed in the second pre-scanning position.

A system comprising:

• a first robotic arm controllable to move an x-ray tube to a first pre-scanning position proximate a region of interest (ROI) of an asset to be inspected;
• a first precision end effector provided between the first robotic arm and the x-ray tube and controllable to move the x-ray tube along a first precise scanning path proximate the ROI during an inspection while the first robotic arm remains fixed in the first pre-scanning position
• a second robotic arm controllable to move an x-ray detector to a second pre-scanning position proximate the ROI and opposite the x-ray tube;
• and
• a second precision end effector provided between the second robotic arm and the x-ray detector and controllable to move the x-ray detector along a second precise scanning path proximate the ROI during the inspection while the second robotic arm remains fixed in the second pre-scanning position.