Movable gantry system configured to interface with jigs of different sizes

1. A system comprising:

one or more processors; and

one or more memory storing instructions that, upon execution by the one or more processors, configure the system to:

perform a datuming process prior to moving an end effector that is coupled with a movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:

determining based on a location on a part mounted on a jig and a relative position between the movable system and the jig, a three dimensional position of a datum point in a coordinate system of the movable system;

determining by using at least a sensor, a surface of the part;

determining an angle needed to normalize the end effector to the surface of the part at the datum point,

determining based on the angle, at least a rotation about an X axis, a Y axis, or a Z axis of the coordinate system of the movable system, and

determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X axis, the Y axis, or the Z axis to move and rotate the end effector from the current position to the three dimensional position and about the X axis, the Y axis, or the Z axis; and

direct the end effector to perform the operation in the coordinate system on the part by at least translationally and rotationally moving, after the datuming process, the end effector based on the translational X, Y, and Z data and on the rotational data.

2. The system of claim 1 , wherein the execution of the instructions further configures the system to:

receive a first identifier of the jig and a second identifier of the part based on proximity between the movable system and the jig;

identify the jig and the part by at least querying a database based on the first identifier and the second identifier;

access, from the database, a model of the part, the model identifying the location on the part for the operation; and

store information about a status of the operation, the information causing an update to the model.

3. The system of claim 1 , wherein the relative position is determined based on kinematic indexing and locking of the movable system to the jig, wherein one or more light projections are projected from a light source of the movable system.

4. The system of claim 1 , wherein the operation comprises the rotation of the end effector about at least two axes of the coordinate system of the movable system.

5. The system of claim 4 , wherein the movable system is configured to, based on kinematic indexing of the movable system to the jig, provide a translational movement of the end effector along one or more axes of the coordinate system of the movable system.

6. The system of claim 1 , wherein the execution of the instructions further configures the system to:

access, from a database, a model of the part, wherein the model identifies the datum point and the operation based on the part, the end effector, and on a status of one or more operations already performed on the part.

7. The system of claim 1 , wherein a plurality of parts having different serial numbers are individually mountable to the jig, and wherein the execution of the instructions further configures the system to:

receive a serial number of the part based on proximity between the movable system and to the jig and identify the part based on the serial number.

8. The system of claim 1 , wherein directing the end effector comprises directing at least one of a position or an orientation of the end effector in the coordinate system of the movable system.

9. The system of claim 1 , wherein the execution of the instructions further configures the system to:

receive a first identifier of the jig and a second identifier of the part based on proximity between the movable system and the jig; and

identify the jig and the part by at least querying a database based on the first identifier and the second identifier,

wherein the first identifier comprises a jig identifier (ID), wherein the second identifier comprises a part ID, and wherein the jig ID and the part ID are received separately from each other.

10. The system of claim 1 , wherein the execution of the instructions further configures the system to:

identify a second jig and a second part mounted on the second jig based on relocation of the movable system to a second location of the second jig, the second location being different from a first location of the jig, and the second jig having different dimensions than the jig; and

determine a second datum point on the second part in the coordinate system of the movable system.

11. The system of claim 10 , wherein the movable system comprises a second end effector in lieu of the end effector when at the second location, and wherein the execution of the instructions further configures the system to:

direct the second end effector to perform a second operation on the second part based on the second datum point.

12. A method implemented by a system, the method comprising:

performing a datuming process prior to moving an end effector that is coupled with a movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:

determining based on a location on a part mounted on a jig and a relative position between the movable system and the jig, a three dimensional position of a datum point in a coordinate system of the movable system;

determining by using at least a sensor, a surface of the part;

determining an angle needed to normalize the end effector to the surface of the part at the datum point,

determining based on the angle, at least a rotation about an X axis, a Y axis, or a Z axis of the coordinate system of the movable system, and

determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X axis, the Y axis, or the Z axis to move and rotate the end effector from the current position to the three dimensional position and about the X axis, the Y axis, or the Z axis; and

directing the end effector to perform the operation in the coordinate system on the part by at least translationally and rotationally moving, after the datuming process, the end effector based on the translational X, Y, and Z data and on the rotational data.

13. The method of claim 12 , wherein the relative position is determined based on kinematic indexing of the movable system to the jig, wherein the jig is associated with at least one index location, and wherein the kinematic indexing is based on the index location.

14. The method of claim 12 , further comprising:

identifying a second jig and a second part mounted on the second jig based on relocation of the movable system to a second location of the second jig, the second location being different from a first location of the jig, and the second jig having different dimensions than the jig; and

determining a second datum point on the second part in the coordinate system of the movable system.

15. The method of claim 14 , wherein the movable system comprises a second end effector in lieu of the end effector when at the second location, the method further comprising:

directing the second end effector to perform a second operation on the second part based on the second datum point.

16. A non-transitory computer-readable storage medium comprising computer-readable instructions that, upon execution on a system, configure the system to perform steps comprising:

performing a datuming process prior to moving an end effector that is coupled with a movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:

determining based on a location on a part mounted on a jig and a relative position between the movable system and the jig, a three dimensional position of a datum point in a coordinate system of the movable system;

determining by using at least a sensor, a surface of the part;

determining an angle needed to normalize the end effector to the surface of the part at the datum point,

determining based on the angle, at least a rotation about an X axis, a Y axis, or a Z axis of the coordinate system of the movable system, and

determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X axis, the Y axis, or the Z axis to move and rotate the end effector from the current position to the three dimensional position and about the X axis, the Y axis, or the Z axis; and

directing the end effector to perform the operation in the coordinate system on the part by at least translationally and rotationally moving, after the datuming process, the end effector based on the translational X, Y, and Z data and on the rotational data.

17. The non-transitory computer-readable storage medium of claim 16 , wherein the steps further comprise:

receiving a serial number of the part based on proximity between the movable system and the jig, and to identify the part by using the serial number in a query to a database.

18. The non-transitory computer-readable storage medium of claim 16 , wherein directing the end effector comprises directing at least one of a position or an orientation of the end effector relative in the coordinate system of the movable system.

19. The non-transitory computer-readable storage medium of claim 16 , wherein the steps further comprise:

receiving a first identifier of the jig and a second identifier of the part based on proximity between the movable system and the jig; and

identifying the jig and the part by at least querying a database based on the first identifier and the second identifier,

wherein the first identifier comprises a jig identifier (ID), wherein the second identifier comprises a part ID, and wherein the jig ID and the part ID are received separately from each other.

20. The non-transitory computer-readable storage medium of claim 16 , wherein the steps further comprise:

identifying a second end effector that replaced the end effector in the movable system; and

directing the second end effector to perform a second operation on the part.