Guide Objects in 6D
Guiding Objects in 6D Using Point Measurements
If you would like to continually monitor a 6 degree-of-freedom trans- formations to one or more objects, but only have access to a 3D de- vice available, you still can. This is accomplished using a two step process.
The process involves measuring a set of reference points affixed to the moving object, and creating a corresponding set of “goal” points which represent these reference points transformed to the desired final location. This establishes as a starting point for the process.
Next you monitor a single point selected from the list as you move the part. During this step a simple translation and point to point dis- tance is available.
You then stop and repeat a measurement of the reference points on the moving object, and SA will update the position of the moving objects and also update a full 6D display or watch window indicating the required motion to transform from the new updated position to the final position.
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Measurement Group. Defines the name of the point group containing the measured points. If you change this, you must click the Apply button.
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Cycle All Points. When clicked, this button cycles through all reference points, points at their last measured position, search- es, locks, and measures each point (applies to steerable, targeted instruments only).
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Measure Selected Point. Measures a point and associates it with the selected point in the table.
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3D Translate in Real-Time. Select a point in the table, then click this button. SA will track the target as this point and trans- late the moving objects. This is useful for getting real-time feedback on movement, without considering rotational in- formation. Once you dial in the position, you can switch back to full 6 degree-of-freedom measurement of your reference points by toggling this mode back off.
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Watch. Click this button to open a watch window showing the transformation, in the active frame, required to get from the current position to the goal position.
To Guide Objects in 6D Using Point Measurements:
Setup the job file
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Locate into a coordinate system as necessary.
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Measure a set of reference points on the moving object. Three are required at a bare minimum, more are better.
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Create a set of corresponding goal points in the destination position. This is usually accomplished by copying the reference group and applying an appropriate transformation to the copy.
Start the mode
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From the menu, select Guiding Objects in 6D Using Point Measurements.
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At the prompt, select the destination (goal) group and then select the reference group on the moving object. Finally, select any additional objects you’d like to transform.
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When the dialog appears, select the appropriate point in the table and click Measure Selected Point to measure it. Or, ensure targets exist at each reference location and click Cycle All Points to measure them all automatically.
Note: When using “Cycle All Points”, movements must be small enough relative to the previously measured position to en- sure that the instrument can still
find the targets.
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Using the reported transform, apply the desired movement to the moving objects, then repeat the measurement.
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When satisfied with the final position, click Done: Leave Objects in Current Position to accept the transformation.