Man-machine interaction element with measuring function for coordinate measuring machine

Abstract

The invention provides a man-machine interaction element with a measuring function for a coordinate measuring machine. The invention relates to an articulated coordinate measuring machine comprising a base, a set of articulation elements, a probe, and an operator motion sensor mounted on a manual control member. The operator action sensor is configured to derive operator action data regarding a force or torque or caused displacement applied by an operator action on a manual component of the articulated arm coordinate measuring machine.

Description

Technical Field

[0001] The present invention relates to an operator motion sensor for an essentially manually driven articulated arm coordinate measuring machine (AA-CMM), a CMM having an operator motion sensor, and the operation of the CMM. The CMM comprises a probe for approaching an object point and a set of components connecting the probe to a base. The probe is at least partially moved manually by an operator applying a force or torque on a hand-controlled component of the set of components. Background Art

[0002] A CMM is a machine configured to measure the 3D coordinates of certain points of a workpiece, in particular the entire surface topography. CMMs are important in various industries, such as production measurement, quality control or reverse engineering. They are utilized, for example, to determine the deviation of the geometry of a manufactured product from the design model, in particular to determine whether the deviation is within the manufacturing tolerance. Another increasingly important application of CMMs is the reverse engineering of an object, where no design model exists, but an operator provides guidance for the probe.

[0003] Portable measurement arms provide a flexible, time-saving and cost-effective solution for such measurement tasks. The portable measurement arm comprises a base connecting the machine to a generally inert support structure, a set of articulated elements, a set of internal sensors providing data about the status of said elements, a probe interface configured to receive the probes, generally in a replaceable manner, and one or more probes. The probes are configured to interact with the workpiece in a tactile and / or contactless manner and to derive (relative) coordinate data about object points on the workpiece based on the status of the articulated elements and the data provided by the probes.

[0004] For the type and arrangement of the articulated elements of the portable measurement arm, many designs are possible, at least in theory. However, practical considerations (e.g., the need for ultra-high accuracy, low weight, large accessible volume) lead to a preferred embodiment in which the arm comprises a series of hinges and an elongated cylinder comprising a portion allowing rotation about its axis. Most of the above elements are non-motorized, i.e., the probe is manually guided and the decisive part of the driving force for the movement of the articulated elements is provided by the operator's muscle strength.

[0005] In order to achieve high mobility and good accessibility of the workpiece, such a CMM is an under-defined system, that is, the same posture of the probe can be achieved by different relative postures of the components. Such a CMM is usually operated by "two-handed holding", in which the operator fixes the posture of the probe with one hand and holds one of the intermediate members to provide a suitable posture of the member (e.g., a second cylinder or a second hinge). The intermediate member will be referred to as the "manual control member" hereinafter. Alternatively, the operator can guide the probe without directly providing the posture of any intermediate member, and the guidance will be referred to as "single-hand holding". In the latter case, the probe interface or a suitable alternative component plays the role of the "manual control member".

[0006] Because the torque or force generated by the operator gripping the hand control member is an essential feature of operating such an instrument, it is desirable to determine the magnitude and impact of the operator's direct actions on the AACMM.

[0007] In addition, some current implementations of portable measurement arms include servo units to help the operator guide the probe, or the portable measurement arm is implemented as a fully motorized arm. However, due to the design of the articulated elements, providing commands to the servo units or motors is non-intuitive and does not fit into the typical workflow. Summary of the invention

[0008] In view of the above, one object of the present invention is to improve the maneuverability of a manually guided AACMM, in particular to provide the AACMM with easy-to-handle command elements.

[0009] A second object of the present invention is to improve the measurement accuracy of AACMM.

[0010] The present invention relates to an operator motion sensor for an AACMM. The operator motion sensor is configured to be mounted on a hand control member of the AACMM. The hand control member is configured to be held by an operator of the AACMM. The operator motion sensor is configured to detect operator motion, including applying force and / or torque to the operator motion sensor by the operator to provide a desired posture of the hand control member. The operator motion sensor is configured to at least partially transmit force and / or torque to the hand control member. The operator motion sensor is configured to generate operator motion sensor data and provide it to the AACMM. The operator motion sensor data includes at least two degrees of freedom data about the following items: (a) force and / or torque applied by the operator, and / or (b) displacement caused by the operator motion. Displacement in the sense of the present invention includes rigid body translation, rotation, strain and shear.

[0011] In the sense of the present invention, the operator action sensor data represents the effect of direct mechanical contact between the AACMM and the operator. Direct mechanical contact can be the support / holding of the machine, but it can also represent the guidance of the probe, i.e. dynamic action. The sensor or system of the present invention at least derives data about the bending, shearing, and strain effects on the components of the AACMM. The operator action sensor data can also be used to provide commands to the AACMM. For example, the AACMM can provide an assessment of the operator action of the plan, and provide commands to improve the accuracy, range, etc. of the AACMM for subsequent measurements.

[0012] In some embodiments, the operator motion sensor includes a first sensor element and a second sensor element. The first sensor element and the second sensor element are configured to be mounted to the hand-controlled member at a defined geometric interval and to be independently held by the operator. In other words, the operator motion sensor can support holding the hand-controlled member in different positions or orientations. This feature is particularly useful when the operator prefers to perform a measurement sequence with a grip change, such as directly controlling the posture of the manual member during a rough repositioning and performing the actual measurement by grasping the probe. In some specific embodiments, the operator motion sensor data includes data about the bending of the hand-controlled member. Alternatively or in addition, the operator motion sensor may include a third sensor element mounted to another member and / or the probe.

[0013] In some embodiments, the operator motion sensor comprises a feedback element, in particular a feedback element having a light emitting diode (LED), which is configured to provide feedback on the operating state of the operator motion sensor and / or the CMM. Feedback in the sense of the present invention can represent simple data, such as an error state is detected, standby or the sensor / servo is in an activated state. Such simple feedback can be achieved by an LED light or a light strip configured to provide three different colors. Feedback can also represent more complex data, and the operator motion sensor can include a display unit that displays the data. The operator motion sensor can be configured to provide tactile or acoustic feedback.

[0014] In some embodiments, the operator motion sensor includes a command input element configured to receive operator command input data and provide it to the CMM. The operator command input data may result in the activation or deactivation of a function or mode (e.g., a precision mode or a repositioning mode, or an auxiliary function or a safety function). In some specific embodiments, at least one command input element is a hardware button or switch, and the operator command input data corresponds to the interaction or state of the button or switch. Alternatively or in addition, at least one command input element can be a touch-sensitive surface, and the operator command input data corresponds to a touch gesture, particularly a multi-touch gesture. The CMM can be configured to interpret the operator command input data based on a context-sensitive menu.

[0015] In some embodiments, the operator motion sensor includes: (a) an outer surface configured to be gripped by an operator; (b) an inner surface configured to interact with a hand-controlled member, in particular to transmit a portion of a force or torque applied by the operator; (c) an inner volume including a sensing element configured to provide operator motion sensor data; and (d) a thermally insulating region configured to provide thermal insulation between the inner surface and the outer surface. In some specific embodiments, the operator motion sensor includes a bearing configured to provide rotatability of the outer surface relative to the inner volume, so that the operator motion sensor data is provided independently of the rotational state of the outer surface.

[0016] The present invention also relates to an AACMM. The AACMM comprises a probe for approaching an object point, a set of components connecting the probe to a base, and a set of internal sensors. The components comprise a connecting rod and a joint.

[0017] The probe is at least partially manually moved by the operator applying force or torque on the hand-controlled member of the group of members. Manual movement at least partially in the sense of the present invention includes full manual control, wherein substantially all driving forces are provided by the operator's muscle strength. Motorization or mainly servo-assisted operation (wherein the operator gives guidance commands by gesture devices and by touching the hand-controlled member) also constitutes the situation of at least partially manually moving the probe interface. In other words, the operator does not guide the probe in a remotely controlled manner, such as guiding the probe by a joystick or button arranged on a control element of a hinged member physically different from the AACMM. The probe is configured to measure the detection data corresponding to the interaction between the probe and the object point.

[0018] Each sensor in the set of internal sensors: (i) is associated with at least one of the member or base, and (ii) is configured to provide actual link data regarding measured length and / or bending of the corresponding link and / or actual joint data regarding measured attitude changes provided by the corresponding joint or base. The CMM is configured to (a) provide the attitude of the probe based on the actual link data and the actual joint data, and (b) provide coordinate data of the object point based on the probe data and the attitude of the probe.

[0019] The CMM further includes an operator motion sensor of the present invention mounted at the hand control member. The operator motion sensor is configured to generate operator motion sensor data and provide it to the CMM. The hand control member can be any one of the articulated members. In addition, the present invention is by no means limited to the application of a single sensor element and a single hand control member. Multiple sensor elements can be utilized sequentially or in parallel. From here on, unless otherwise provided, only embodiments with a single sensor element will be discussed in detail. The specific features of the AACMM with multiple sensor elements should be applied accordingly.

[0020] In some embodiments, the CMM includes a posture determination function for determining the posture of the probe. The posture determination function includes (i) accessing arrangement data, which includes data about the arrangement of components and kinematic constraints between components, (ii) providing component geometry data for each link, the component geometry data including (a) actual link data, or (b) link model data about the calculated length and / or bending of the corresponding link based on the arrangement data, the actual link data, the actual joint data and the operator motion sensor data, (iii) providing component geometry data for each joint, the component geometry data including (a) actual joint data, and / or (b) joint model data about the calculated posture change provided by the corresponding joint based on the arrangement data, the actual link data, the actual joint data and the operator motion sensor data; and (iv) providing the posture of the probe based on the arrangement data and the component geometry data. Obviously, the use of numbers and letters does not indicate the order in which the actions are performed, but rather indicates a list of actions to be performed in a reasonable order. Changes in the implementation embodiments are within the meaning of the present invention.

[0021] For high-precision measurements, implementations in which component geometry data are derived by modeling the AACMM relative to the arrangement data are advantageous. In particular, when the modeling is performed based on sensor data and respects the kinematic and dynamic behavior of the various components. However, one or more components may be represented by nominal geometry data or nominal joint data, in particular where the component is idling during measurement or its contribution to measurement inaccuracy is negligible compared to other components.

[0022] In some embodiments, the component geometry data comprises model data and / or actual data from a plurality of components (particularly each component) in the one group of components. In some specific embodiments, actual data and / or model data comprise data about the influence of gravity on the one group of components. In some specific embodiments, model data is derived based on the actual data associated with at least one component (particularly each component). The present invention can be advantageously used for modeling AACMM. That is, processing operator action sensor data allows more accurate modeling of AACMM to derive the effect of the operator action of each component. However, the present invention is also applicable when there is no AACMM modeling.

[0023] In some embodiments, the AACMM includes a counterweight unit associated with the first joint and configured to provide a servo torque. The AACMM includes an auxiliary function. The auxiliary function includes (a) deriving a synthetic torque generated by the force or torque applied by the operator by guiding the manual member for the first joint, and (b) providing a servo torque acting in a direction corresponding to the synthetic torque. In some specific embodiments, the CMM adjusts the servo torque so that the force and / or torque applied by the operator or the displacement caused by the operator is reduced, particularly close to zero. In other words, the servo torque reduces the size of the force / torque that the operator needs to apply. Alternatively or in addition, the CMM can derive the synthetic torque based on the layout data, the actual joint data and the actual connecting rod data.

[0024] In some embodiments, the first joint connects the base to the first connecting rod. The counterweight unit includes (i) a passive component, the passive component including a balance member and / or a spring, in particular a coil spring arranged along the axis of the first connecting rod, (ii) an active component, the active component including a motor, and (iii) a mechanism configured to transfer the torque provided by the active component and the passive component to the first joint. The torque provided by the passive component is constant or corresponds to the gravity-related torque acting on the first joint. The torque provided by the active component is responsive to operator motion sensor data. This design enables the active component to achieve better responsiveness. In some embodiments, the torque provided by the passive component is adjustable.

[0025] In some embodiments, the AACMM includes another counterweight unit associated with a second joint connecting the first link to the second link. The other counterweight unit is similar to the counterweight unit or a simplified version of the counterweight unit, and in particular, it can only include non-adjustable passive components. Alternatively or in addition, the base can be motorized and provide a base servo torque similar to a servo torque.

[0026] In some embodiments, the AACMM is configured to provide a servo torque based on (i) the posture and type of the probe, and / or (ii) the linear velocity and / or angular velocity of the probe, and / or (iii) the orientation of the second link, and / or (iv) the posture of the second joint, and / or (v) a previous operator action, such as an operator command input data. The servo torque can be adjusted based on a plurality of such parameters. For example, a distance that can be considered a typical repositioning distance of a tactile sensor can also be a measured distance of a contactless sensor.

[0027] In some embodiments, the AACMM is configured to operate in a precision mode and in a repositioning mode. The precision mode and the repositioning mode are automatically activated based on the posture or operating state of the probe, automatically activated based on operator motion data, or manually activated by receiving corresponding operator command input data. In some embodiments, the AACMM is configured to identify the installed probe, for example, whether a tactile probe or a non-contact probe is used, and the activation mechanism of the precision mode and the repositioning mode is updated relative to the identified probe.

[0028] In the precision mode, (i) the speed of at least one component is limited to a speed range corresponding to the precision mode, (ii) the orientation of at least one component is limited to an orientation range corresponding to the precision mode, and (iii) the responsiveness of the active component to the operator motion sensor data is increased to a value corresponding to the precision mode. In particular, the precision mode is configured to support slow, precise positioning of the probe relative to certain features of the workpiece near the workpiece. The probe is guided with reduced physical force (particularly substantially without resistance) in the precision mode.

[0029] In reposition mode, (i) speeds above the speed limit of precision mode are enabled, and (ii) the responsiveness of the active components to operator motion sensor data is reduced to a value corresponding to reposition mode. In particular, reposition mode is configured to support coarse movement of the AACMM, for example, to place the AACMM in a park position during workpiece change.

[0030] In some embodiments, the hand-controlled member is a connecting rod that is kinematically closest to the probe. In some specific embodiments, the operator motion sensor is configured to provide operator motion sensor data in at least three degrees of freedom. These embodiments are beneficial because the operator motion sensor itself is arranged on the movable member, that is, its posture relative to the workpiece changes during measurement. In other words, an operator motion sensor configured to provide operator motion sensor data that is independent of the orientation of the sensor is advantageous. It is beneficial if the operator motion sensor is configured for isotropic response or at least calibrated to compensate for posture-related sensitivity. Despite the above benefits, at least core aspects of the present invention can be implemented with a simpler operator motion sensor.

[0031] The present invention also relates to a method for determining a force or torque applied by an operator of a manual control member guiding an AACMM in an external reference frame. The AACMM includes a probe for approaching an object point and a set of components connecting the probe to a base. The components include a connecting rod and a joint. The probe is at least partially manually moved by an operator guiding a manual control member in the set of components.

[0032] The method comprises the following steps: (i) accessing arrangement data, the arrangement data comprising data on the arrangement of components and kinematic constraints between the components, (ii) accessing component geometry data of each link, the component geometry data comprising (a) actual link data on measured length and / or bending of the corresponding link, and / or (b) link model data on calculated length and / or bending of the corresponding link; and (iii) accessing component geometry data of each joint, the component geometry data comprising (a) actual joint data on measured posture changes provided by the corresponding joint, and / or (b) joint model data on calculated posture changes provided by the corresponding joint, (iv) providing a posture of the hand-controlled component based on the arrangement data and the component geometry data, (v) measuring operator motion sensor data, wherein the operator motion sensor data comprises data on the following items: (a) forces and / or torques applied by an operator on the hand-controlled component, and / or (b) displacements caused by operator motion, i.e. strain or shear, (vi) deriving a force or torque applied by an operator guiding the hand-controlled component in an external reference frame based on the posture of the hand-controlled component and the operator motion sensor data.

[0033] In some embodiments, the method further comprises the steps of: (i) providing overload feedback based on the operator motion sensor data, and / or (ii) deriving expected operator movement data based on the operator motion sensor data. Alternatively or additionally, the operator motion sensor data may be processed when providing component geometry data about the hand-controlled member.

[0034] In some embodiments, the method further comprises the following steps: (i) determining whether the operator acts on the hand control member based on the operator motion sensor data, and (ii) if the operator does not act on the hand control member, the CMM is placed in a static parking state, in particular, the probe is placed in a predefined parking posture. The force / displacement sensor is essentially capable of providing touch / grip data, and the data can be advantageously used to improve the safety and user comfort of the AACMM instrument. The static parking state can be provided by passive friction or locking elements, by a specific mechanical structure or active motor control. Two types of parking states can be provided. The short-term stable posture is advantageous for the situation where the operator must interrupt the measurement to perform different tasks. For this interruption, the stability of the probe close to its actual posture can be provided, thereby allowing the measurement task to be continued easily. On the contrary, it is advantageous to provide a long-term, safe parking posture between measurement tasks. That is, this posture reduces the risk of damaging the articulated member, the probe interface and the probe, while allowing ergonomic probe replacement. In some specific embodiments, the hand control member is the connecting rod closest to the probe in kinematics.

[0035] In some embodiments, the method includes an auxiliary function. The auxiliary function includes (i) deriving a resultant torque of a first joint generated by an operator guiding a manual control member, and (ii) applying a servo torque to the first joint that acts in a direction corresponding to the resultant torque. In some specific embodiments, the servo torque is adjusted to (i) constrain the movement of a second joint in a plane perpendicular to the gravity vector, wherein the second joint connects the second link to the first link, or (ii) constrain the orientation of the second link in a plane perpendicular to the gravity vector, or (iii) constrain all members to a vertical plane.

[0036] In some embodiments, the method includes safety functions. The safety functions include (i) providing a restricted area, particularly wherein an operator sets an upper and / or lower safety level for the first joint, (ii) providing an assessment of the first joint approaching the restricted area, and (iii) preventing the first joint from entering the restricted area.

[0037] The AACMM may include imaging or scanning sensors to automatically collect information about the environment and provide a restricted area based on the collected information. Alternatively or in addition, the restricted area may be provided based on workpiece data. One aspect of the invention relates to protecting the AACMM and / or workpiece from machine collisions that may cause serious material damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] By way of example only, specific embodiments of the present invention will be described more fully hereinafter with reference to the accompanying drawings, in which:

[0039] Figure 1a A general AACMM is shown;

[0040] Figure 1b A prior art measurement routine is illustrated, where unnatural hand gestures are required of the operator;

[0041] Figure 2a to Figure 2f schematically depicting an operator motion sensor as a four-degree-of-freedom displacement sensor arranged around one of the links and orientation-dependent force measurements made with said sensor;

[0042] Figure 3a and Figure 3b depicts an alternative arrangement of operator motion sensors;

[0043] Figure 4 The implementation of the method of the present invention is depicted by a flow chart;

[0044] Figure 5a to Figure 5c The horizontal movement of the probe assisted by the servo torque is depicted;

[0045] Figure 6 The implementation of auxiliary functions is depicted through a flowchart;

[0046] Figures 7a to 7d Depicted are two alternative uses of the operator motion sensor of the present invention in surveying tasks requiring high accuracy and coverage;

[0047] Figure 8 The servo torque-assisted attitude holding of the second link is depicted through a flow chart;

[0048] Figure 9a and Figure 9b The settings of the upper security level and the lower security level are schematically depicted;

[0049] Fig.10 a flow chart depicting the application of security levels; and

[0050] Fig.11 Exemplary embodiments of counterweight units are depicted. DETAILED DESCRIPTION

[0051] Figure 1aA general AACMM 1 is shown for performing coordinate measurement on a workpiece 2. The depicted AACMM is equipped with a tactile sensor as a probe 5 mounted on a probe interface 16, i.e., the operator performs coordinate measurement by touching an object point 20 with a tactile sensing element 51 (depicted as a ruby ​​sphere). The AACMM 1 includes a base 10 having a fixed element 101 (e.g., a permanent magnet, a screw, a pneumatic component, etc.), which is configured to provide mechanical coupling with the environment in a fixed posture relative to the workpiece. The AACMM 1 also includes a set of articulated members 11-15, 121, 141 connecting the probe 5 to the base 10. The articulated members 11-15, 121, 141 include connecting rods 121, 141 and joints 11-15.

[0052] In the depicted embodiment, each of the joints 11-15 and the base 10 provides a rotational degree of freedom around a corresponding axis 100, 110, 120, 130, 140, 150. The connecting rods 121, 141 are elongated cylinders, and the rotational axes 120, 140 of the segment joints 12, 14 correspond to the elongation direction. Other joints 11, 13, 15 are depicted as hinges that provide rotation around an axis perpendicular to the base 10 and / or connecting rods 121, 141, 100, 120, 140. The proximal side of the joints 11-15 has a fixed spatial relationship with the corresponding proximal parts. AACMM 1 includes a group of internal sensors 70-75. Each sensor is associated with at least one of the components 11-15, 121, 141 or the base 10, and provides actual joint data and / or actual connecting rod data. In the depicted embodiment, the first joint 11 is motorized 111, that is, the AACMM 1 is configured to provide servo torque to the first joint 11 in response to operator action. Figure 1a and Figure 1b The embodiment depicted in the embodiment illustrates many features, but the claimed invention is not limited to this embodiment.

[0053] Figure 1bDepicted is a measurement routine, wherein the diameter of a cylindrical workpiece 2 is determined by an AACMM 1 having a probe 5 with a tactile sensing element 51. The depicted AACMM includes a set of members 11-15, 121, 141 connecting the probe 5 to a base 10. For simplicity, the depicted connecting rods 121, 141 are considered to be substantially rigid members, while some of the depicted joints 11-15 are considered to provide mobility in more than one degree of freedom. In order to ensure the highest possible accuracy, the posture of the members 11-15, 121, 141 and the probe 5 should be consistent throughout the measurement process. This can be achieved using the depicted method, wherein the members 11-15, 121, 141 and the probe 5 are constrained to a vertical plane by the operator holding the second connecting rod 141 or alternatively holding the second joint 12 / 13 and moving the probe 5 vertically. However, for this purpose, the operator must either grasp the second connecting rod 141 away from the probe, as shown, or must apply excessive torque. Both are annoying. Furthermore, they may cause bending of the second link 141, thereby causing the AACMM 1 to temporarily or permanently lose accuracy.

[0054] Figure 2a to Figure 2f A first embodiment of an operator motion sensor 4 as a touch-sensitive strip mounted to a hand control member is depicted. The hand control member depicted is the second link 141, i.e. the link kinematically close to the probe. The operator motion sensor 4 is mounted so that it is concentric with the second link 141 in a static state. The operator motion sensor 4 is elastically displaceable into a displaced state by three translation directions and a rotation around the axis 140 of the second link 141. The measured displacement 400 comprises information about the force 401 or torque applied by the operator.

[0055] The depicted operator motion sensor 4 is foreseen as (i) providing an operator contact area for the operator to support the second link 141, and (ii) at least partially transmitting the applied driving force 401 to manually guide the second link 141 to a new posture. The depicted operator motion sensor 4 includes a feedback element 48 depicted as a light strip, which is configured to provide feedback on the status of the AACMM and / or the operator motion sensor 4, for example, whether the system is ready to operate or whether an error has been detected and / or whether certain modes are activated. The technician may provide alternative visual, acoustic or tactile feedback elements 48. The operator motion sensor 4 may include or act as a touch-sensitive surface that is configured to receive operator command input data, such as operator command input data regarding the activation of certain modes of the AACMM. The operator command input data may correspond to a touch gesture, such as a multi-touch action and / or a gripping gesture.

[0056] Figure 2c to Figure 2eDepicted are measurements of the force 401 applied by the operator for a vertical orientation (2c), an angled orientation (2d), and a horizontal orientation (2e) of the second link 141 and the operator motion sensor 4. Depending on the orientation, the displacement 400 may correspond to different relative movements, i.e., different degrees of freedom of the operator motion sensor 4. For the present invention, it is advantageous to utilize an operator motion sensor having at least three degrees of freedom, particularly when the response of the displacement 400 to the force 401 is isotropic and / or calibrated.

[0057] Figure 2f A cross-sectional view of an operator motion sensor mounted to a second link 141 as a hand control member is depicted. The operator motion sensor includes an outer surface 42 configured to be gripped by an operator, an inner surface 43 configured to interact with the second link, in particular to transfer a portion of the force or torque applied by the operator, and an inner volume 44 including a sensing element 46, which is depicted as two pairs of uniaxial piezoelectric elements, configured to provide operator motion sensor data. The operator motion sensor further includes a thermal insulation region 45 configured to provide thermal insulation between the inner surface 43 and the outer surface 42. In the depicted embodiment, the thermal insulation region 45 is also configured to function as a bearing 47, which is configured to provide rotatability 471 of the outer surface 42 relative to the inner volume 44, so that the operator motion sensor data is provided independent of the rotational state of the outer surface 42. In alternative embodiments, the rotational state of the outer surface 42 and / or the torque applied to rotate the outer surface 42 about the second link 141 may be included by the operator action data.

[0058] Figure 3a The second embodiment of the operator motion sensor 4 is depicted as a joystick providing two translational degrees of freedom and one rotational degree of freedom (around the axis 150 of the third joint 15). Alternatively or in addition, the joystick can also provide a third translational degree of freedom or rotational degree of freedom around the axis 140 of the second connecting rod 141. The joystick is mounted on the third joint 15 as a hand-controlled member along the axis of rotation 150. The joystick also includes a button as a command input element 49, which is configured to receive operator command input data, for example, activation of certain modes of the AACMM. The joystick may include additional command input elements. The depicted joystick is also foreseen to provide the functions mentioned in the previous embodiments. The probe 5 in the depicted embodiment is a non-contact probe that emits detection radiation 52 (e.g., structured light).

[0059] Figure 3bA third embodiment of an operator motion sensor comprising a first sensor element 402 and a second sensor element 403 is depicted. The second sensor element is mounted to the second link 141 as a hand control member, and the first sensor element 402 is mounted to the second segment joint 14. The joint provides rotatability around the second segment axis 140 for the second link 141. The second segment joint 14 is coaxial with the second link 141. Such an arrangement is beneficial when the operator wishes to set the posture of the second segment axis 140 with high precision and perform a two-handed grasping by the first sensor element 402 and the second sensor element 403. This can be used, for example, to set a restricted area for the AACMM 1. The first sensor element 402 also presents a command input element 49 depicted as a button and a feedback element 48 depicted as an LED light. The operator can press a button to record the rotation state 112 of the first joint 11 representing a safety limit, wherein the feedback element 48 provides feedback on the recording of the safety limit. Alternatively or in addition, the desired posture of the second segment axis can also be recorded. The feedback element 48 may indicate whether the auxiliary function is active.

[0060] The depicted embodiments of the operating motion sensor are for illustrative purposes only, and the present invention is not limited to the depicted embodiments. A skilled person may provide a combination of the depicted features or features of alternative embodiments that implement the AACMM and methods of the present invention.

[0061] Figure 4 A flow chart depicting the functionality of the computer-implemented method of the present invention is shown. Flow / command lines are shown in bold, while data lines are shown in dashed lines. For reasons of transparency, some flow lines and / or data lines may not be shown in the schematic flow chart. Although the execution of certain steps depends on the availability of certain data, reasonable variations in the sequence of steps are possible within the meaning of the present invention.

[0062] In the first step, the arrangement data 60 of the components of the AACMM described in 600 is provided. The arrangement data 60 can be in the form of a kinematic chain or dynamic modeling of the AACMM. In the next step, the actual connecting rod data 61 and the actual joint data 62 related to the internal sensor access 610 / 620 associated with the corresponding connecting rod and joint are accessed. This is followed by accessing 410 the operator motion sensor data 41. The operator motion sensor data 41 includes data about (a) the force and / or torque applied by the operator on the hand control member and / or (b) the displacement caused by the operator's action. Based on the actual joint data 61 and the connecting rod data 62, the nominal joint data 861 and the connecting rod data 862 and the operator motion sensor data 41, the component geometry data 31 is derived 310. In the sense of the present invention, the derivation 310 can be based on the mentioned data and the arrangement data 60 for modeling. Alternatively, the component geometry data 31 can be provided by associating the actual joint data 61 and the connecting rod data 62 and the nominal joint data 861 and the connecting rod data 862 with the corresponding components. A pose 35 of the probe is provided 350 based on the component geometry data 31 and the arrangement data 60. Coordinates 200 of the object point are provided 201 based on the pose 35 of the probe and the accessed 500 probe data 50.

[0063] Figure 5a The measurement of a workpiece 2 using the method of the present invention using the AACMM 1 of the present invention is depicted. The AACMM includes a set of components 11-15, 121, 141 connecting a probe 5 to a base 10. In the depicted embodiment, the probe 5 is a tactile probe including a tactile sensing element 51 (depicted as a ruby ​​sphere). The tactile sensing element 51 establishes contact with an object point 20 on the workpiece 2 and provides detection data about the object point 20. In order to ensure the highest accuracy, it is recommended that the angle 521 between the probe 5 at the object point and the surface of the workpiece 2 be maintained within a certain range, for example, the probe 5 is substantially perpendicular to the surface of the workpiece 2.

[0064] AACMM 1 further includes an operator motion sensor 4, which is mounted on a hand-controlled member depicted as a second link 141 and is configured to measure operator motion sensor data. The operator motion sensor data includes data about a force 401 applied by an operator, which represents a planned operator motion. AACMM also includes a motorized counterweight unit 111 associated with the first joint 11. The motorized counterweight unit 111 is configured to set the rotational state of the first joint (the angle 711 of the first link 121 and the horizontal line, respectively) to a target value by applying a servo torque. In addition, the motorized counterweight unit 111 is configured to provide a servo torque in response to the force 401 applied by the operator. The servo torque can act in a direction corresponding to the synthetic torque 411 of the first joint 11 generated by the force 401 or torque applied by the operator. It is also particularly beneficial to motorize the base 10 and provide a base servo torque based on sensor data from the operator motion sensor because it allows the depicted measurements to be performed so that the members 11-15, 121, 141 are constrained to the vertical plane.

[0065] With this arrangement, the operator can perform operations such as Figure 5a The depicted measurement, i.e. by guiding the probe 5 with one hand, in particular setting the distance and angle 521 between the probe and the surface of the workpiece 2, while with the other hand the operator motion sensor 4 mounted on the hand-controlled member is kinematically held close to the probe 5. The operator thereby controls the rotational state of the first joint 11. This natural measuring gesture reduces the workload compared to the systems of the prior art. Moreover, the control of the posture of the member 11-15, 121, 141 is intuitive due to the gesture-driven, real-space control performed by the operator motion sensor 4.

[0066] Figure 5b A first phase of the measurement of a workpiece 2 is depicted, in which coordinate data of an object point 20 are determined. Figure 5c The second stage is depicted, in which the coordinate data of another object point 21 are determined. The operator's intention is to guide the probe 5 in the horizontal plane while maintaining a right angle 521 between the probe 5 and the surface of the workpiece 2. This intention is reflected by the force 401 applied by the operator on the hand-controlled member. The motorized counterweight unit 111 provides a servo torque based on the force 401 applied by the operator, so that the movement of the probe 5 is constrained to the horizontal plane, and in particular, the members 11-15, 121, 141 are constrained in the vertical plane. This is achieved by adjusting the rotation state of the first joint 11, or in other words, by adjusting the angle 711 of the axis of the first link 121 with the horizontal line. The second joint 12 / 13 is in an idle state to provide an appropriate posture.

[0067] Figure 6 Depicted with Figure 5a to Figure 5cFlow chart related to servo torque assisted measurement shown. Part geometry data 31, previous pose of the probe 351 and operator motion sensor data 41 are provided 310, 352, 410, for example, as Figure 4 As shown. A resultant torque 411 resulting from the operator action is derived 412 based on the operator action sensor data 41, the component geometry data 31 and the layout data (not shown). In other words, the AACMM is modeled and the effects of the forces and / or torques applied by the operator guiding the hand-controlled member are calculated. Based on the resultant torque 411, a servo torque 413 is derived 414 and applied 416 to the first joint. In the depicted case, the servo torque 413 is provided to assist the desired horizontal movement of the probe. The depicted flowchart includes control steps to ensure this effect. The control steps are (i) providing 354 a new posture 353 of the probe, and (ii) verifying 356 the posture change 355. If the posture change 355 does not meet the acceptance criteria, the servo torque 413 is adjusted 414.

[0068] Figures 7a to 7d A quality control measurement of a car as a large workpiece 2 is shown. For measuring similar workpieces, the AACMM 1 requires both high coverage and accuracy. Short measuring times usually form a third requirement, which requires parallel measurement by means of a non-contact probe 5 emitting detection radiation 52. The attitude of the probe 5 is therefore not constrained by mechanical contact with the object point. Since measurements of deviations from a vertical or horizontal orientation can be performed more accurately, it is advantageous to constrain at least one component to such an orientation. The base 10 is vertical and can be rotated horizontally about its axis 100. In Figure 7a In the embodiment shown, the motor 111 of the first joint 11 provides a servo torque 413 so that the axis 120 of the first segment joint 12 and the corresponding first link 121 are horizontal. The second joint 13 is in an idle state and the orientation of its axis 130 is constrained by the posture of the first link 121 and the second link 141. The operator guides the probe 5 using a handle mounted on the third joint 15 so that its axis 160 is horizontal, i.e., using a "one-hand grip". The corresponding axes 140, 150 are aligned by this manual guidance. In the sense of the present invention, the third joint 15 is a hand-controlled member. The handle is an operator motion sensor 4, which provides operator motion sensor data about the torque and force 401 applied by the operator. The operator motion sensor data is used to derive the component geometry data and thereby the posture of the probe 5. Since the horizontal posture of the axis 120 of the first segment joint 12 can be provided independently of the operator's action, the operator sensor data is not used to control the servo torque 413. It may be processed to provide an overload warning and / or to determine whether the force 401 applied by the operator indicates an intended termination of the measurement phase, such as commanded by a force override.

[0069] Figure 7b Three views depict the Figure 7a Schematic movement 357 of the probe 5 from a previous pose 351 to a new pose 353 during the measurement step shown, as well as the associated behavior of the base 10 and members 11-15, 121, 141. The operator guides the probe 5 in a horizontal movement 357. The path of the probe and the pose of the corresponding joint 15 are provided directly by the operator action. The corresponding sensors 72, 73 provide the measured lengths 122, 142 of the links 121, 141 and the pose changes, only one exemplary pose change 139 provided by the joint 11-15 is shown. In order to maximize the coverage provided by the first link 121, the axis 120 of the first link 121 and the first segment joint 12 is constrained to a horizontal movement 313 by the motorized 111 first joint. Since the AACMM 1 represents an under-determined system, the idle joints (here the joints 12-14) provide the necessary mobility under these conditions. The operator motion sensor 4 does not directly contribute to the control of the motorized 111 joint 11, however, it can provide data regarding whether the operator is applying excessive force (which may cause temporary or permanent loss of accuracy) and / or an override signal indicating that the operator wishes to end the constrained movement of the first link 121.

[0070] Figure 7c An alternative measurement of the AACMM 1 is depicted, in which the axis 140 of the second link 141 and the second segment joint 14 are constrained to a horizontal plane. The operator applies a force 401 on a belt mounted on the second link 141 that serves as an operator motion sensor 4. During this measurement, the handle is only used to provide the posture of the probe 5, so it operates without applying much force. Based on the operator motion sensor data, the motor 111 provides a servo torque to set the angle of the first joint 11 to keep the axis 140 of the second link 141 horizontal. The base 10 and the second joint 13 are in an idle state and are constrained by the posture of the first link 121 and the second link 141.

[0071] Figure 7d Three views depict the Figure 7c Schematic movement 357 of the probe 5 from a previous pose 351 to a new pose 353 during a measuring action is shown, as well as the associated behavior of the base 10 and members 11-15, 121, 141. For illustrative purposes, the movement 357 of the probe 5 corresponds to Figure 7b The invention can be applied to different probe movements 357, in particular the height of the probe may change due to the movement 357. The operator motion sensor 4 may provide operator motion sensor data regarding such expected height changes.

[0072] The AACMM 1 may be modeled based on taking into account the operator motion sensor data to provide a measured constraint, namely that the axis 140 of the second link 141 is horizontal. Additionally or alternatively, the AACMM 1 may include a leveling sensor 741 associated with the second link 141. The leveling sensor 741 may be integrated into an internal sensor or an operator motion sensor 4. The motor 111 associated with the first joint 11 sets a servo torque to set an angle 711 of the axis 120 of the first link 121 with the horizontal line, for example, based on the posture change 119 data measured by the corresponding sensor 71 to set the servo torque to set the angle 711 of the axis 120 of the first link 121 with the horizontal line. Figure 7b and Figure 7d It also illustrates the underdetermined nature of the AACMM 1, i.e. the same pose 351, 353 of the probe 5 can be achieved by different poses of the components 11-15, 121, 141. Figure 7b Unlike the situation depicted, keeping the axis 140 of the second link 141 horizontal requires active processing of the probe 5 posture 351, 353 and operator motion sensor data.

[0073] Figure 8 A flow chart is depicted relating to a measurement assisted by an auxiliary function 81, i.e. applying a servo torque 413 based on a derivation 349 of an expected movement 341. To this end, the system determines 340 a pose 34, in particular a posture, of an operator motion sensor. The depicted method is based on accessing 600 arrangement data 60 and determining 310 component geometry data 31 based on accessed 610 / 620 actual link data 61 and joint data 62 and accessed 410 operator motion data 41. As Figure 4 As shown, the considerations regarding the determination of the probe's attitude can be applied accordingly to this case.

[0074] If the pose 34 of the operator motion sensor and the operator motion sensor data 41 are known, the expected movement 341 relative to an external reference frame and / or a reference frame of the motorized joint (particularly the first joint) can be derived 349. A servo torque 413 can be applied 414 based on the expected movement 341 to reduce the force applied by the operator and / or provide a pose of a given component. Although complete modeling of the depicted AACMM is advantageous for accuracy and reproducibility of the pose, these steps are not strictly necessary for the auxiliary function 81. Alternatively or in addition, the operator motion sensor can be provided with a leveling sensor and the operator motion sensor data 41 is interpreted based on data from the leveling sensor. The depicted auxiliary function 81 can advantageously be extended to provide a preferred pose, height or by providing data from the leveling sensor for one or more components. Figures 4 to 7a arrive Figure 7dOne or more features of the examples may be used to provide further functionality.

[0075] It is clear that Figure 5a to Figure 5c to Figure 8 The examples depicted in are illustrations of the concepts and are not definitive limitations. The invention is equally applicable when the movement of other articulated members is constrained, or when the movement is completely free. In the sense of the invention, constrained movement may equally encompass precise constraints (i.e., where one or more degrees of freedom are locked) and substantial constraints (i.e., where the counterweight unit attempts to provide a preferred range). The AACMM may additionally or alternatively include additional counterweight units associated with members other than the first joint and / or with the base. In order to perform the movement caused by Figure 5a to Figure 5c to Figure 8 While the illustrated method requires a counterweight unit (particularly a motorized counterweight unit), other aspects of the invention are applicable without such a counterweight unit.

[0076] Figure 9a and Figure 9b The setting of the restricted area 614 of the first joint 11 is depicted for measuring a workpiece 2 with limited clearance, such as measuring inside a pipe. The operator first sets the upper safety level 612, such as Figure 9a This can be achieved by gesture control of the operator motion sensor 4, for example, by holding the operator motion sensor 4 in a fixed position. Although not mandatory, this can be advantageously combined with a motorized first joint 11 and an operator motion sensor 4 having multiple sensor elements, such as Figure 3b When registering the upper safety level 612, the operator similarly sets the lower safety level 613. Depending on the measurement task, only a single safety level 612, 613 may be set. On the one hand, the safety levels 612, 613 represent the permitted rotation states of the first joint 11 or the permitted posture range of the first segment axis 120. On the other hand, they represent the permitted height limits 622, 623 of the second joint 13.

[0077] Fig.10A flow chart related to a safety function 82 is depicted. In a first step, the safety function 82 accesses 615 / 616 the corresponding upper safety level 612 and lower safety level 613. Then, the safety function accesses 619 the actual joint data 611 of the first joint. Based on the current and historical joint data, the safety function 82 derives 312 the movement 311 of the first joint. Based on the actual joint data 611 and the movement data 311, the safety function 82 evaluates whether the first joint is close to one of the safety levels 612 / 613. When the first joint is close to the safety level, a command is provided 322 to offset the detected movement 311. In the depicted embodiment, this is performed by adjusting the servo torque 413, that is, the safety function 82 is provided by an auxiliary function. Alternative embodiments are also possible, in particular the brake can be activated. In addition, feedback 480 such as a visual or audio warning is provided 481 to the operator. An embodiment of the safety function 82 that does not provide a servo torque 413 is also possible. In fact, such an embodiment is particularly suitable for non-motorized AACMMs and can also be implemented by the system and method of the present invention.

[0078] Fig.11 An embodiment of a counterweight unit 111 is illustrated, which includes a spring as a passive component 90 and a motor represented by a gearbox as an active component 91. The spring is arranged along the axis 120 of the first link. A mechanism 92 including a lever gear 93 is configured to interact with the active component 91 via corresponding gears 94 / 95. The passive component 90 interacts with the lever gear 93 via a rod 97. The mechanism includes a cam 98 mounted to the axis 110 of the first joint. The mechanism 92 thus transmits the torque provided by the active component 91 and the passive component 90 to the first joint 11. The depicted first link 121 includes a first link housing 128 and an internal support 127. The interaction of the first link housing 128 and the internal support 127 occurs only in the interaction area 124. There are many alternatives to the depicted counterweight unit 111. A non-exclusive list includes passive component 90 with leaf spring or torsion spring, cam follower instead of the depicted lever gear 93, active component 91 mounted directly to the axis 111 of the first joint. These and other similar options are within the meaning of the invention.

[0079] Although the present invention has been described in the foregoing with reference to some specific embodiments, it must be understood that many modifications and combinations of different features of the embodiments are possible. All these modifications are within the scope of the appended claims.

Claims

1. An operator motion sensor (4) for an articulated arm coordinate measuring machine (1), the operator motion sensor (4) being configured to: - mounted on a hand control member of the articulated arm coordinate measuring machine (1), the hand control member being configured to be held by an operator of the articulated arm coordinate measuring machine (1); - detecting an operator action, the operator action comprising a force (401) and / or a torque applied by the operator to the operator action sensor (4) to provide a desired posture of the hand-controlled member; - generating operator motion sensor data (41), wherein: The operator motion sensor data (41) includes data on: o said forces (401) and / or torques applied by said operator in at least two degrees of freedom, and / or o displacements (400) caused by said operator action in at least two degrees of freedom; and - providing (410) the operator motion sensor data (41) to the articulated arm coordinate measuring machine (1).

2. The operator motion sensor (4) according to claim 1 comprises a feedback element (48), wherein the feedback element (48) is configured to provide (481) feedback (480) about the operating status of the operator motion sensor (4) and / or the coordinate measuring machine (1).

3. The operator motion sensor (4) according to any one of claims 1 to 2, comprising a command input element (49) configured to receive operator command input data and provide the operator command input data to the coordinate measuring machine (1), In particular, The command input element (49) comprises: - a hardware button or switch and said operator command input data corresponds to an interaction with said button or switch or a state of said button or switch, - the surface is touch-sensitive and the operator command input data corresponds to a touch gesture, in particular a multi-touch gesture.

4. The operator motion sensor (4) according to any one of the preceding claims, comprising: - an outer surface (42) configured to be gripped by the operator, - an inner surface (43) configured to interact with the hand control member, - an internal volume (44) comprising a sensing element (46) configured to provide the operator motion sensor data (41), and - a thermal insulation region (45) configured to provide thermal insulation between the inner surface (43) and the outer surface (42), And in particular, - a bearing (47) configured to provide the outer surface (42) with rotatability (471) relative to the inner volume (44) so ​​that the operator motion sensor data (41) is provided (410) independently of the rotational state of the outer surface (42).

5. An articulated arm coordinate measuring machine (1), the articulated arm coordinate measuring machine (1) comprising a set of internal sensors (70-75), a probe (5) for approaching an object point (20), a set of components (11-15, 121, 141) connecting the probe (5) to a base (10), the components (11-15, 121, 141) comprising connecting rods (121, 141) and joints (11-15), wherein: - the probe (5) is configured to be moved manually, at least in part, by an operator directing a manual member of the set of members (11-15, 121, 141), - each sensor of the set of internal sensors (70-75) o is associated with at least one of the members (11-15, 121, 141) or the base (10), and o is configured to provide (610, 620) a measured length (122, 141) of a corresponding link (121, 141) 142) and / or actual link data (62) of bending, and / or actual joint data (61) regarding measured attitude changes (119, 139) provided by the corresponding joints (11-15) or the base (10), - the probe (5) is configured to measure (500) detection data (50) corresponding to an interaction between the probe (5) and the object point (20), and - the coordinate measuring machine (1) is configured to provide (350) a pose (35) of the probe (5) based on the actual link data (62) and the actual joint data (61), o providing (201) coordinate data (200) of the object point (20) based on the detection data (50) and the posture (35) of the probe (5), It is characterized in that The coordinate measuring machine (1) comprises an operator motion sensor (4) according to any one of claims 1 to 4 mounted at the hand control member.

6. The coordinate measuring machine (1) according to claim 5, comprising a posture determination function for determining (350) the posture (35) of the probe (5), wherein: The posture determination function includes: - accessing (600) arrangement data (60), said arrangement data (60) comprising data on the arrangement of said components (11-15, 121, 141) and kinematic constraints between said components (11-15, 121, 141), - providing (310) component geometry data (31) including: oFor each connecting rod (121, 141), the actual connecting rod data (62), and / or link model data regarding the calculated length and / or bending of the respective link (121, 141) based on the arrangement data (60), the actual link data (62), the actual joint data (61) and the operator motion sensor data (41), and oFor each connector (11-15), The actual joint data (61), and / or joint model data about calculated attitude changes provided by the respective joints (11-15) based on the arrangement data (60), the actual link data (62), the actual joint data (61) and the operator motion sensor data (41), - providing (350) the pose (35) of the probe (5) based on the arrangement data (60) and the component geometry data (31).

7. A coordinate measuring machine (1) according to any one of claims 5 to 6, characterized in that The coordinate measuring machine (1) comprises: a counterweight unit (111) associated with the first joint (11) and configured to provide (416) a servo torque (413), - Auxiliary functions (81), the auxiliary functions (81) comprising: o deriving (412) for the first joint (11) a resultant torque (411) resulting from the force (401) or torque applied by the operator, o providing (416) a servo torque (413) acting in a direction corresponding to said resultant torque (411), In particular, the coordinate measuring machine (1) - regulating the servo torque (413) so that the force (401) and / or the torque applied by the operator or the displacement (400) caused by the operator is reduced, in particular close to zero, - deriving (412) the resultant torque (411) based on the arrangement data (60), the actual joint data (61) and the actual link data (62).

8. The coordinate measuring machine (1) according to claim 7, wherein: - the first joint (11) connects the base (10) to a first connecting rod (121), - The counterweight unit (111) comprises: o a passive component (90), the passive component (90) comprising a spring, in particular a helical spring arranged along the axis (120) of the first connecting rod (121), o an active component (91), the active component (91) comprising a motor, and o a mechanism (92) configured to transmit the torque provided by the active component (91) and the passive component (90) to the first joint (11), - the torque provided by the passive component (90) is constant or corresponds to a gravity-related torque acting on the first joint (11), and - said torque provided by said active component (91) is responsive to said operator action sensor data (41).

9. The coordinate measuring machine (1) according to any one of claims 7 to 8, the coordinate measuring machine (1) being configured to provide (416) the servo torque (413) according to: - the posture (35) and type of the probe (5), and / or - the linear velocity and / or angular velocity of the probe (5), and / or - the orientation of the second connecting rod (141), and / or - the posture of the second joint (13), and / or - previous operator actions, in particular operator command input data, In particular, - the coordinate measuring machine (1) is configured to operate in a precision mode and a repositioning mode, - the precision mode and the repositioning mode are automatically activated based on the posture (35) of the probe (5), automatically activated based on the operator action data, or manually activated based on receiving corresponding operator command input data, - wherein, in the precise mode, o the responsiveness of the active component to the operator action sensor data (41) increases to a value corresponding to the precise mode, and o the speed of at least one component (11-15, 121, 141) is limited to a speed range corresponding to the precise mode, and / or o the orientation of at least one member (11-15, 121, 141) is restricted to a range of orientations corresponding to said precise mode, - wherein, in said repositioning mode, oEnable speeds above the speed limit of the precision mode, o The responsiveness of the active component to the operator motion sensor data (41) is reduced to a value corresponding to the repositioning mode.

10. A coordinate measuring machine (1) according to any one of claims 5 to 9, wherein: The hand-controlled component is a connecting rod which is kinematically closest to the probe (5).

11. A method for determining a force (401) or torque applied by an operator guiding a hand-controlled member of an articulated arm coordinate measuring machine (1) in an external reference frame, in, The coordinate measuring machine (1) comprises a probe (5) for approaching an object point (20), and a set of components (11-15, 121, 141) connecting the probe (5) to a base (10), wherein the components (11-15, 121, 141) comprise connecting rods (121, 141) and joints (11-15). Wherein, the method comprises the following steps: - accessing (600) arrangement data (60), said arrangement data (60) comprising data on the arrangement of said components (11-15, 121, 141) and kinematic constraints between said components (11-15, 121, 141); - accessing (310) component geometry data (31), said component geometry data (31) comprising: oFor each connecting rod (121, 141), Actual link data (62) regarding the measured length (122, 142) and / or bending of the corresponding link (121, 141) and / or Link model data concerning the calculated length and / or bending of the respective link (121, 141), and oFor each connector (11-15), Actual joint data (61) regarding measured attitude changes (119, 139) provided by the corresponding joint (11-15) or the base (10), and / or Joint model data relating to calculated pose changes provided by the respective joint (11-15) or the base (10); and - providing a pose of the hand control member based on the arrangement data (60) and the component geometry data (31), It is characterized in that The method further comprises the following steps: - measuring operator motion sensor data (41), wherein the operator motion sensor data (41) comprises data on: o the force (401) and / or torque applied by the operator on the hand control member, and / or oDisplacement caused by operator action (400), - deriving the force (401) or torque applied by the operator guiding the hand control member in the external reference frame based on the pose of the hand control member and the operator motion sensor data (41).

12. The method according to claim 11, further comprising the steps of: - providing overload feedback based on said operator motion sensor data (41), and / or - deriving (349) expected operator movement data (341) based on said operator motion sensor data (41).

13. The method according to any one of claims 11 to 12, further comprising the steps of: - determining whether the operator acts on the hand control member based on the operator motion sensor data (41), If the operator does not act on the manual control member, the coordinate measuring machine (1) is placed in a stationary state, in particular the probe head (5) is placed in a predefined parking position.

14. The method according to any one of claims 11 to 13, further comprising an auxiliary function (81), wherein: The auxiliary functions (81) include: - deriving (412) a resultant torque (411) of the first joint (11) produced by the operator directing the manual control member, and - applying (416) to said first joint (11) a servo torque (413) acting in a direction corresponding to said resultant torque (411), In particular, the servo torque (413) is adjusted to - constraining the movement of a second joint (13) in a plane perpendicular to the gravity vector, wherein the second joint (13) connects the second link (141) to the first link (121), or - constraining the orientation of the second link (141) in a plane perpendicular to the gravity vector, - Constrain each component (11-15, 121, 141) to a vertical plane.

15. The method according to any one of claims 11 to 14, comprising a safety function (82), wherein: The safety functions (82) include: - providing a restricted area (614), - providing an assessment of the proximity of the first connector (11) to the exclusion zone (614), and - preventing (322) the first connector (11) from entering the restricted area (614).

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