Operating method for a positioning system
AssigneeBA Assembly & Turnkey Systems GmbH
InventorsAlexander Meiβner, Jens Häcker, Dirk Poppe, Nihat Biyiklioglu, Taoufik Mbarek
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Abstract
The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.
Claims20
A method for operating a positioning system, the positioning system comprising a plurality of positioners each including at least one manipulator, wherein a respective base coordinate system is associated with each of the manipulators, the method comprising:
- grasping a single component jointly with each of the manipulators of the plurality of positioners,
- synchronously manipulating the component with the manipulators while jointly grasping the component with the manipulators,
- determining a position and an orientation of the component in an initial situation,
- determining a position and an orientation of the component in a target situation,
- determining reference movement parameters, the reference movement parameters defined relative to a coordinate system associated with the component and describing a movement of the component from the position and the orientation in the initial situation to the position and the orientation in the target situation,
- transforming the reference movement parameters into the respective base coordinate system of each of the manipulators, and
- operating the manipulators based on the respective transformed reference movement parameters.
Dependencies are inferred from the claim text.