Patent Publication Number: US-2023161317-A1

Title: Parametric and Modal Work-holding Method for Automated Inspection

Description:
TECHNICAL FIELD 
     Embodiments generally relate to production processes, more particularly, embodiments relate to inspection operations. 
     BACKGROUND ART 
     One of the most rapidly growing areas in manufacturing is automation. Companies today need to be globally competitive and thus must be able to justify highly skilled labor through the efficiency of their operation. To this end, collaborative robots (COBOTs) as well as other automated machinery, must be effectively integrated into each production process and work as independently of human intervention as possible. 
     One such production process in many manufacturing operations is the inspection or measurement process. Coordinate measuring machines (CMMs) have long been used to assist in providing critical measurement data to provide the necessary feedback to control all of the other processes responsible for producing the product. Conventional CMMs do not collaborate with other equipment or share the information they acquire to enable process level decisions to be made on their own. CMMs still often rely on human operators to make decisions to prepare parts for inspection as well as analyze the results for corrective action. 
     SUMMARY OF VARIOUS EMBODIMENTS 
     One embodiment includes a method of sequentially delivering each workpiece of a plurality of workpieces, each workpiece being from a different family of workpieces, to a workholder to hold the workpiece during inspection by an inspection instrument of an inspection system. The inspection system includes the inspection instrument, a robot having an end effector configured to grasp each workpiece, the robot disposed to move each workpiece directly to the measurement volume of the inspection instrument, and a control system in control communication with the robot. 
     The method includes:
         providing a plurality of non-identical workpieces for inspection by the workpiece inspection system, each workpiece of the plurality of workpieces being from a different family of a plurality of families of workpieces;   providing a plurality of workpiece delivery rulesets, each ruleset of the plurality of workpiece delivery rulesets corresponding, respectively, to a family from the plurality of families of workpieces; and, for each such non-identical workpiece:
           retrieving, from the plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to the workholder; and   sequentially, using the control system to:   (a) customize at least one of
               (i) the configuration of the robot, and   (ii) the operation of the robot,   pursuant to the parameters of the corresponding ruleset; and subsequently   
               (b) operate the robot to deliver said non-identical workpiece to the workholder.   
               

     In some embodiments, the corresponding ruleset includes a parameter specifying a wait time between (i) the robot end effector arriving at a workholder with a workpiece and (ii) subsequently releasing said workpiece by the end effector, pursuant to which the control system customizes the operation of the robot to cause the robot to pause for at least the wait time prior to releasing said workpiece. 
     In some embodiments, the corresponding ruleset includes a parameter specifying that the workholder grasps the workpiece prior to said releasing said workpiece by the end effector, pursuant to which the control system customizes the operation of the robot and the workholder to cause the workholder to grasp the workpiece prior to said releasing said workpiece by the end effector, so that the workpiece is held by the workholder before being released by the end effector. 
     In some embodiments, the corresponding ruleset includes a parameter specifying that the workholder is to first grasp the workpiece only after said releasing said workpiece by the end effector, pursuant to which the control system customizes the operation of the robot and the workholder to cause workholder to first grasp the workpiece only after said releasing said workpiece by the end effector, so that the workpiece is not grasped by the workholder before being released by the end effector. 
     In some embodiments, the corresponding ruleset includes a parameter specifying a wait time between (i) the workholder releasing a workpiece and (ii) an act of grasping said workpiece, by the end effector, pursuant to which the control system operates the robot to pause for at least the wait time prior to retrieving said workpiece form the workholder. 
     In some embodiments, the workholder has a workpiece interface, the workpiece interface configured to close to grasp a workpiece, the workpiece interface having a maximum available closing force; and the corresponding ruleset includes a parameter quantitatively specifying a specified closing force for closing the workpiece interface, said specified closing force being less that the maximum available closing force, pursuant to which the control system customizes the operation of the workholder to close the workpiece interface at a force not greater than the specified closing force. 
     In some embodiments, the corresponding ruleset includes a parameter specifying a safe position for the end effector above a workpiece prior to grasping the workpiece for delivery to the workholder, pursuant to which the control system customizes the operation of the robot to move the end effector to the safe position prior to grasping the workpiece. 
     In some embodiments, the corresponding ruleset includes a parameter specifying an orientation of the end effector relative to the workpiece prior to grasping the workpiece for delivery to the workholder, pursuant to which the control system customizes the operation of the robot to orient the end effector relative to the workpiece prior to grasping the workpiece with the effector. 
     In some embodiments, the end effector includes a gripper having a maximum gripper gap, and the corresponding ruleset includes a parameter quantitatively specifying a specified gap width that is which is less than the maximum gripper gap, pursuant to which the control system customizes the operation of the robot to open the gripper to the specified gap width. 
     In some embodiments, end effector includes a gripper having a minimum gripper gap, and the ruleset includes a parameter instructing the robot to close the gripper to its minimum griper gap, pursuant to which the control system customizes the operation of the robot to close the gripper to its minimum griper gap when grasping a workpiece. 
     In some embodiments, the workholder has a workpiece interface, and the workpiece interface has a maximum workpiece interface gap, and the corresponding ruleset includes a parameter quantitatively specifying a specified workpiece interface gap width that is less than the maximum workpiece interface gap, pursuant to which the control system customizes the operation of the workholder to open the workpiece interface to the specified workpiece interface gap width. 
     In some embodiments, the workholder has a workpiece interface, and the workpiece interface has a maximum closing speed for closing the workpiece interface, and the corresponding ruleset includes a specified workpiece interface closing speed that is less that the maximum closing speed for closing the workpiece interface, pursuant to which the control system the control system customizes the operation of the workholder to close the workpiece interface at a speed not greater than the specified workpiece interface closing speed. 
     In some embodiments, the workholder has a workpiece interface, and the corresponding ruleset includes a parameter quantitatively specifying a closing delay between (a) positioning of the workpiece by the robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the control system the control system customizes the operation of the workholder to close the workpiece interface after passing of said closing delay. 
     In some embodiments, the workholder has a workpiece interface, and the corresponding ruleset includes a parameter quantitatively specifying an opening delay between (a) completion of an inspection operation by a workpiece inspection instrument, and (b) opening the workpiece interface to release the workpiece, pursuant to which the control system customizes the operation of the workholder to open the workpiece interface after passing of said opening delay. 
     Another embodiment includes a workpiece inspection system for sequentially delivering each workpiece of a plurality of workpieces, each workpiece being from a different family of workpieces, to a workholder. The system includes
         a set of instruments, the set of instruments comprising a workpiece inspection instrument and a robot disposed to deliver to the workholder each workpiece of the plurality of workpieces, each workpiece of the plurality of workpieces being from a different family of a plurality of families of workpieces;   a control system in control communication with the set of instruments of the workpiece inspection system, the control system configured to, for each workpiece:
           retrieve, from a plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to the workholder; and   sequentially   (a) customize at least one of
               (i) the configuration of the robot, and   (ii) the operation of the robot,   pursuant to the parameters of the corresponding ruleset; and subsequently   
               (b) operate the robot to deliver said non-identical workpiece to the workholder.   
               

     In some embodiments, the workpiece inspection instrument includes a coordinate measuring machine. 
     In some embodiments, the corresponding ruleset includes a parameter quantitatively specifying a closing delay between (a) positioning of the workpiece by the robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the control system the control system customizes the operation of the workholder to close the workpiece interface after passing of said closing delay. 
     Another embodiment includes a non-transient medium storing computer code that, when executed by a computer-implemented control system, cause instruments of a workpiece inspection system to perform a method of sequentially delivering each workpiece of a plurality of workpieces, each workpiece being from a different family of workpieces, to a workholder. The method may include any of the methods described herein. 
     In some embodiments, the method includes:
         providing a plurality of workpiece delivery rulesets, each ruleset of the plurality of workpiece delivery rulesets corresponding, respectively, to a family from the plurality of families of workpieces; and, for each such non-identical workpiece:
           retrieving, from the plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to the workholder; and   sequentially, causing the control system to:
               (a) customize at least one of
                   (i) the configuration of the robot, and   (ii) the operation of the robot,   pursuant to the parameters of the corresponding ruleset; and subsequently   
                   (b) operate the robot to deliver said non-identical workpiece to the workholder.   
               
               

     In some embodiments, the workpiece inspection system includes a robot having a robot end effector, and the corresponding ruleset includes a parameter specifying a wait time between (i) the robot end effector arriving at a workholder with a workpiece and (ii) subsequently releasing said workpiece by the end effector, pursuant to which the control system customizes the operation of the robot to cause the robot to pause for at least the wait time prior to releasing said workpiece. 
     In some embodiments, the workpiece inspection system includes a robot having a robot end effector, and the corresponding ruleset includes a parameter specifying that the workholder grasps the workpiece prior to said releasing said workpiece by the end effector, pursuant to which the control system customizes the operation of the robot and the workholder to cause the workholder to grasp the workpiece prior to said releasing said workpiece by the end effector, so that the workpiece is held by the workholder before being released by the end effector. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Those skilled in the art should more fully appreciate advantages of various embodiments from the following “Description of Illustrative Embodiments,” discussed with reference to the drawings summarized immediately below. 
         FIG.  1 A  schematically illustrates a coordinate measuring machine, a robot and a storage apparatus for storing workpieces; 
         FIG.  1 B  schematically illustrates an embodiment of a coordinate measuring machine; 
         FIG.  1 C  schematically illustrates an embodiment of a workpiece; 
         FIG.  1 D  an embodiment of a control system for a coordinate measuring machine; 
         FIG.  1 E  schematically illustrates an embodiment of a manual user interface for a coordinate measuring machine; 
         FIG.  2    schematically illustrates an embodiment of a storage apparatus for storing workpieces; 
         FIG.  3 A  schematically illustrates an embodiment of a workpiece placement robot; 
         FIG.  3 B  schematically illustrates an embodiment of a workpiece placement robot; 
         FIG.  3 C  schematically illustrates an embodiment of a workpiece placement robot; 
         FIG.  3 D  schematically illustrates an embodiment of a workpiece placement robot; 
         FIG.  4    schematically illustrates an embodiment of a workholder; 
         FIG.  5    is a flowchart of an embodiment of a method of sequentially measuring a set of workpieces using a workpiece inspection system; 
         FIG.  6 A  schematically illustrates a ruleset; 
         FIG.  6 B  schematically illustrates correlations between workpieces and corresponding rulesets. 
     
    
    
     DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS 
     Illustrative embodiments provide improved control over the inspection of each workpiece of a plurality of non-identical workpieces. System embodiment enable the system to configure (and/or reconfigure) the instruments of the system to customize the instruments to each workpiece of the plurality of non-identical workpieces. Method embodiments include configuring (and/or or reconfiguring) the instruments of a workpiece inspection system to customize the instruments to each workpiece of the plurality of non-identical workpieces. 
     Definitions: As used in this description and the accompanying claims, the following terms shall have the meanings indicated, unless the context otherwise requires. 
     The term “end effector” (or simply “effector”) is a general term for an apparatus disposed on or integral to a robot arm, which apparatus is configured to get and hold an object to enable the robot arm to pick-up an object at one location, move and deliver the object to a different location. For example, one embodiment of an end effector is a mechanism used to grasp and hold an object to or by a robotic arm, typically (but not necessarily) disposed at the end of the robotic arm. An illustrative embodiment of such a mechanism is a gripper with two or more fingers. 
     A “family” of workpieces means a set of workpieces, wherein each workpiece of said set is associated with the same (or an identical) workpiece delivery ruleset for customizing the configuration and/or the operation of at least one instruments of the set of instruments of a workpiece inspection system to move a workpiece and deliver the workpiece to a workholder. The workpieces in said set of workpieces may identical to one another, or may be non-identical to one another, as long as the customization or configuration of said set of instruments of a workpiece inspection system is performed pursuant to the same (or an identical) workpiece delivery ruleset. 
     This allows a robot and/or workholder to be configured pursuant to one workpiece delivery ruleset, even when the workpieces that belong to the family are non-identical to one another. In other words, not every non-identical workpiece requires a corresponding non-identical ruleset. 
     The term “non-identical” with regard to a plurality of workpieces means that the workpieces would not be identical to one another even if all such workpieces are devoid of manufacturing defects or deviations. For example, a fan blade and a ball bearing would be non-identical to one another because they would not be identical even if each was devoid of manufacturing defects or deviations. A plurality of workpieces are considered to be identical to one another if they would be physically identical in the case that each workpiece exactly matched the same design specification, free of manufacturing defects. For example, two fan blades based on the same design specification may be considered to be identical to one another because they would be identical to one another but for manufacturing defects or deviations. 
     A “set” includes at least one member. For example, and without limiting the generality of the definition, a set of workpieces includes at least one workpiece. 
     The term “workpiece” means an object to be inspected by a workpiece inspection instrument, such as a coordinate measuring machine for example. 
     A “workholder” is an apparatus that couples to a workpiece to hold the workpiece stationary, for example when the workpiece is on a table of a coordinate measurement machine. The term workholder may include a clamp; a vise; pneumatic vice; a vacuum suction device; a chuck; and a three-jaw chuck, to name but a few examples. 
     Environment 
       FIG.  1 A  schematically illustrates a working environment for various embodiments. As shown the environment includes several instruments which may be referred to collectively as an embodiment of a workpiece inspection system  90 , including in this embodiment a coordinate measuring machine  100 , and a storage apparatus  200 , and a robot  300 . Some embodiments also include a workholder  400 , as described below. 
     Coordinate Measuring Machine  100   
     As known by those in the art, a coordinate measuring machine (or “CMM”)  100  is a system configured to measure one or more features of a workpiece. Coordinate measuring machines are represented in  FIG.  1 A  by coordinate measuring machine  100 . 
       FIGS.  1 B- 1 E  schematically illustrate a coordinate measurement machine  100  that may be configured in accordance with illustrative embodiments. 
     As known by those in the art, a CMM is a system configured to measure one or more features of a workpiece  180 . An illustrative embodiment of a workpiece  180  is schematically illustrated in  FIG.  1 C . Typically, a workpiece  180  has a specified shape with specified dimensions, which may be referred-to collectively as the “geometry”  181  of the workpiece  180 . As an example, a workpiece  180  may have an edge  182 , and a corner  183 . A workpiece  180  may also have surfaces, such as a flat surface  184 , and a curved surface  185 . A meeting of two surfaces may create an inside angle  187 . Moreover, each surface may have physical characteristic such as waviness  188  and/or surface finish  189 , as known in the art. A workpiece  180  may also have a cavity  186 , which may also be an aperture through the workpiece  180 . As known in the art, a cavity  186  may have dimensions such as width and depth, which may in turn define an aspect ratio of the cavity  186 . 
     CMM Base 
     In the illustrative embodiment of  FIG.  1 A , the CMM  100  includes a base  110  having a table  111 . The table  111  of the CMM  100  defines an X-Y plane  112  that typically is parallel to the plane of the floor  101 , and a Z-axis normal to the X-Y plane, and a corresponding X-Z plane and Y-Z plane. The table  111  also defines a boundary of a measuring space  113  above the table  111 . In some embodiments, the CMM  100  includes a probe rack  115  configured to hold one or more measuring sensors  140 . A moveable part of the CMM  100  may move to the probe rack  115  and place a measuring sensor  140  into the probe rack  115 , and/or remove another measuring sensor  140  from the probe rack  115 . 
     Moveable Parts 
     The CMM  100  also has movable features (collectively,  120 ) arranged to move and orient a measuring sensor  140  (and in some embodiments, a plurality of such devices) relative to the workpiece  180 . As described below, movable features of the CMM  100  are configured to move and orient the measuring sensor  140 , relative to the workpiece  180 , in one dimension (X-axis; Y-axis; or Z-axis), two dimensions (X-Y plane; X-Z plane; or X-Z plane), or three dimensions (a volume defined by the X-axis, Y-axis, and Z-axis). Accordingly, the CMM  100  is configured to measure the location of one or more features of the workpiece  180 . 
     The CMM  100  of  FIG.  1 B  is known as a “bridge” CMM. Movable features  120  of the bridge CMM  100  include a bridge  123  movably coupled to the base  110  by legs  121 . The bridge  123  and legs  121  are controllably movable relative to the base  110  along the Y-axis. 
     To facilitate motion of the legs relative to the base  110 , the legs  121  may be coupled to the base  110  by one or bearings  128 . As known in the art, a bearing may be a roller bearing or an air bearing, to name but a few examples. 
     The movable features also include a carriage  125  movably coupled to the bridge  123 . The carriage is configured to controllably move in the X-axis along the bridge  123 . The position of the carriage  125  along the bridge  123  may be determined by a bridge scale  124  operably coupled to the bridge  123 . 
     A spindle  126  is moveably coupled to the carriage  125 . The spindle  126  is configured to controllably move in the Z-axis. The position in the Z-axis of the spindle  126  may be determined by a spindle scale  127  operably coupled to the spindle  126 . The measuring sensor  140  is operably coupled to the spindle  126 . Consequently, the measuring sensor  140  is controllably movable in three dimensions relative to a workpiece  180  in the measuring space  113 . 
     In some embodiments, the measuring sensor  140  is moveably coupled to the spindle  126  by an articulated arm  130 . For example, the measuring sensor  140  may be movably coupled to the arm  130  by a movable joint  131 . The moveable joint  131  allows the orientation of the measuring sensor  140  to be controllably adjusted relative to the arm  130 , to provide to the measuring sensor  140  additional degrees of freedom in the X-axis, Y-axis, and/or Z-axis. 
     In other embodiments, which may be generally referred-to as “gantry” CMMs, the legs  121  stand on the floor  101 , and the measuring space  113  is defined relative to the floor  101 . 
     In yet other embodiments, the measuring sensor  140  is fixed to (i.e., not movable relative to) the base  110 , and the table  111  is movable in one, two or three dimensions relative to the measuring sensor  140 . In some coordinate measuring machines, the table  111  may also be rotatable in the X-Y plane. In such embodiments, the CMM  100  moves the workpiece  180  relative to the measuring sensor. 
     In other embodiments, which may be generally referred-to as “horizontal arm” CMMs, the bridge  123  is movably coupled to the base  110  to extend in the Z-axis, and to be controllably movable along the Y-axis. In such a CMM, the arm  130  is controllably extendable in the Z-axis, and controllably movable up and down the bridge  123  in the Z-axis. 
     In yet other embodiments, the arm  130  is articulated. One end of the arm  130  is fixed to the base  110 , and a distal end of the arm  130  is movable relative to the base  110  in one, two or three dimensions relative to a workpiece  180  in the measuring space  113 . 
     Sensors 
     In some embodiments, the measuring sensor  140  may be a tactile probe (configured to detect the location of a point on the workpiece  180  by contacting a probe tip to the workpiece  180 , as known in the art), a non-contact probe (configured to detect the location of a point on the workpiece  180  without physically contacting the workpiece  180 ), such as a capacitive probe or an inductive probe as known in the art, or an optical probe (configured to optically detect the location of a point on the workpiece  180 ), to name but a few examples. 
     In some embodiments, the measuring sensor  140  is a vision sensor that “sees” the workpiece  180 . Such a vision sensor may be a camera capable of focusing on the workpiece  180 , or the measurement space  113 , and configured to capture and record still images or video images. Such images, and/or pixels within such images, may be analyzed to locate the workpiece  180 ; determine the placement and/or orientation of the workpiece  180 ; identify the workpiece  180 ; and/or measure the workpiece  180 , to name but a few examples. 
     Some embodiments of a CMM  100  may include one, or more than one, camera  141  configured such that the measurement space  113  is within the field of view of the camera  141 . Such a camera  141  may be in addition to a measuring sensor  140 . The camera  141  may be a digital camera configured to capture still images and/or video images of the measurement envelope  113 , a workpiece  180  on the CMM  100 , and/or the environment around the CMM  100 . Such images may be color images, black and white images, and/or grayscale image, and the camera  141  may output such images as digital data, discrete pixels, or in analog form. 
     Some embodiments of a CMM  100  may also include an environmental sensor  142  configured to measure one or more characteristics of the environment  102  in which the CMM is placed, and some embodiments may have more than one such environmental sensor  142 . For example, an environmental sensor  142  may be configured to measure the temperature, pressure, or chemical content of the environment  102  around the CMM  100 . An environmental sensor  142  may also be a motion sensor, such as an accelerometer or a gyroscope, configured to measure vibrations of the CMM caused, for example, the by motion of people or objects near the CMM  100 . An environmental sensor  142  may also be a light detector configured to measure ambient light in the environment  102 , which ambient light might, for example, interfere with the operation of an optical sensor or vision sensor. In yet another embodiment, an environmental sensor  142  may be sound sensor, such as a microphone, configured to detect sound energy in the environment. 
     In operation, the CMM  100  measures the workpiece  180  by moving the measuring sensor  140  relative to the workpiece  180  to measure the workpiece  180 . 
     CMM Control System 
     Some embodiments of a CMM  100  include a control system  150  (or “controller” or “control logic”) configured to control the CMM  100 , and process data acquired by the CMM.  FIG.  1 D  schematically illustrates an embodiment of a control system  150  having several modules in electronic communication over a bus  151 . 
     In general, some or all of the modules may be implemented in one or more integrated circuits, such as an ASIC, a gate array, a microcontroller, or a custom circuit, and at least some of the modules may be implemented in non-transient computer-implemented code capable of being executed on a computer processor  157 . 
     Some embodiments include a computer processor  157 , which may be a microprocessor as available from Intel Corporation, or an implementation of a processor core, such as an ARM core, to name but a few examples. The computer processor  157  may have on-board, digital memory (e.g., RAM or non-transient ROM) for storing data and/or computer code, including non-transient instructions for implementing some or all of the control system operations and methods. Alternately, or in addition, the computer processor  157  may be operably coupled to other digital memory, such as RAM or non-transient ROM, or a programmable non-transient memory circuit for storing such computer code and/or control data. Consequently, some or all of the functions of the controller  150  may be implemented in software configured to execute on the computer processor. 
     The control system  150  includes a communications interface  152  configured to communicate with other parts of the CMM  100 , or with external devices, such as computer  170  via communications link  176 . To that end, communications interface  152  may include various communications interfaces, such as an Ethernet connection, a USB port, or a Firewire port, to name but a few examples. 
     The control system  150  also includes a sensor input  155  operably coupled to one or more sensors, such as a measuring sensor  140  or camera  141 . The sensor input  155  is configured to receive electronic signals from sensors, and in some embodiments to digitize such signals, using a digital to analog (“D/A”) converter. The sensor input  155  is coupled to other modules of the control system  150  to provide to such other modules the (digitized) signals received from sensors. 
     The motion controller  153  is configured to cause motion of one or more of the movable features  120  of the CMM  100 . For example, under control of the computer processor  157 , the motion controller  153  may send electrical control signals to one or more motors within the CMM  100  to cause movable features of the CMM  100  to move a measuring sensor  140  to various points within the measuring space  113  and take measurements of the workpiece  180  at such points. The motion controller  153  may control such motion in response to a measurement program stored in memory module  156 , or stored in computer  170 , or in response to manual control by an operator using manual controller  160 , to name but a few examples. 
     Measurements taken by the CMM  100  may be stored in a memory module  156 , which includes a non-transient memory. The memory module  156  is also configured to store, for example, a specification for a workpiece  180  to be measured; a specification for a calibration artifact; an error map; and non-transient instructions executable on the computer processor  157 , to name but a few examples. Such instructions may include, among other things, instructions for controlling the moveable features of the CMM  100  for measuring a workpiece  180  and/or a calibration artifact; instructions for analyzing measurement data; and instructions for correcting measurement data (e.g., with an error map). 
     The measurement analyzer  154  is configured to process measurement data received from one or more sensors, such as measuring sensor  140 . In some embodiments, the measurement analyzer  154  may revise the measurement data, for example by modifying the measurement data using an error map, and/or compare the measurement data to a specification, for example to assess deviation between a workpiece  180  and a specification for that workpiece  180 . To that end, the measurement analyzer  154  may be a programmed digital signal processor integrated circuit, as known in the art. 
     Alternately, or in addition, some embodiments couple the CMM  100  with an external computer (or “host computer”)  170 . In a manner similar to the control system  150 , the host computer  170  has a computer processor such as those described above, and non-transient computer memory  174 , in communication with the processor of the CMM  100 . The memory  174  is configured to hold non-transient computer instructions capable of being executed by the processor, and/or to store non-transient data, such as data acquired as a result of the measurements of an object  180  on the base  110 . 
     Among other things, the host computer  170  may be a desktop computer, a tower computer, or a laptop computer, such as those available from Dell Inc., or even a tablet computer, such as the iPad™ available from Apple Inc. In addition to the computer memory  174 , the host computer  170  may include a memory interface  175 , such as a USB port or slot for a memory card configured to couple with a non-transient computer readable medium and enable transfer of computer code or data, etc. between the computer  170  and the computer readable medium. 
     The communication link  176  between the CMM  100  and the host computer  170  may be a hardwired connection, such as an Ethernet cable, or a wireless link, such as a Bluetooth link or a Wi-Fi link. The host computer  170  may, for example, include software to control the CMM  100  during use or calibration, and/or may include software configured to process data acquired during operation of the CMM  100 . In addition, the host computer  170  may include a user interface configured to allow a user to manually operate the CMM  100 . In some embodiments, the CMM and/or the host computer  170  may be coupled to one or more other computers, such as server  179 , via a network  178 . The network  178  may be a local area network, or the Internet, to name but two examples. 
     Because their relative positions are determined by the action of the movable features of the CMM  100 , the CMM  100  may be considered as having knowledge of the relative locations of the base  110 , and the workpiece  180 . More particularly, the computer processor  157  and/or computer  170  control and store information about the motions of the movable features. Alternately, or in addition, the movable features of some embodiments include sensors that sense the locations of the table  111  and/or measuring sensor  140 , and report that data to the computer  170  or controller  150 . The information about the motion and positions of the table and/or measuring sensor  140  of the CMM  100  may be recorded in terms of a one-dimensional (e.g., X, Y or Z), two-dimensional (e.g., X-Y; X-Z; Y-Z) or three-dimensional (X=Y-Z) coordinate system referenced to a point on the CMM  100 . 
     Manual User Interface 
     Some CMMs also include a manual user interface  160 . As shown in  FIG.  1 E , the manual user interface  160  may have controls (e.g., buttons; knobs, etc.) that allow a user to manually operate the CMM  100 . Among other things, the interface  160  may include controls that enable the user to change the position of the measuring sensor  140  relative to the workpiece  180 . For example, a user can move the measuring sensor  140  in the X-axis using controls  161 , in the Y-axis using controls  162 , and/or in the Z-axis using controls  163 . 
     If the measuring sensor  140  is a vision sensor, or if the CMM  141  includes a camera  141 , then the user can manually move the sensor  140 , camera  141 , or change field of view of the vision sensor and/or camera using controls  165 . The user may also focus the vision sensor and/or camera  141  using control  166  (which may be a turnable knob in some embodiments) and capture and image, or control recording of video, using control  167 . 
     As such, the movable features may respond to manual control, or be under control of the computer processor  157 , to move the base  110  and/or the measuring sensor  140  relative to one another. Accordingly, this arrangement permits the object being measured to be presented to the measuring sensor  140  from a variety of angles, and in a variety of positions. 
     Embodiments of a CMM  100  include a mobile controller which may be referred-to as a jogbox (or “pendant”)  190 . The jogbox  190  includes a number of features that facilitate an operator&#39;s control of the coordinate measuring machine  100 . 
     The jogbox  190  is not affixed to the coordinate measuring machine  100  in that its location is movable relative to the coordinate measuring machine  100 . The mobility of the jogbox  190  allows an operator of the coordinate measuring machine  100  to move relative to the coordinate measuring machine  100 , and relative to a workpiece  180  on which the coordinate measuring machine  100  operates. Such mobility may allow the operator to move away from the coordinate measuring machine  100  for safety reasons, or to get a broader view of the coordinate measuring machine  100  or the workpiece  180 . The mobility of the jogbox  190  also allows the operator to move closer to the coordinate measuring machine  100  and the workpiece  180  on which it operates than would be possible using a fixed control console or computer  170 , in order, for example, to examine or adjust the location or orientation of the workpiece  180 , or the operation of the coordinate measuring machine  100 . 
     To that end, the jogbox  190  is in data communication with the control system  150 , and may be movably coupled to the control system  150  by a tether  191 . In some embodiments, the jogbox  190  is in data communication with the communications interface  152  of the control system  150  via a tether  191  (which may be an Ethernet cable, a USB cable, or a Firewire cable, to name but a few examples), as schematically illustrated in  FIG.  1 B , and in other embodiments the jogbox  190  is in data communication with the communications interface  152  of the control system  150  via a wireless communications link, such as a Bluetooth connection, etc. 
     Storage Apparatus  200   
     One or more workpieces  180  are stored in storage apparatus (or system)  200 , an embodiment of which is schematically illustrated in  FIG.  2   . In this embodiment, the storage system  200  includes one or more drawers or shelves  201 . The storage system defines a storage system coordinate system having three mutually orthogonal axes (axes X, Y and Z in  FIG.  1 A ). 
     As schematically illustrated in  FIG.  1 A , each drawer or shelf  211  of a storage system  200  may have one or more storage plates  203  configured and disposed to hold the one or more workpieces  180 . A storage plate  203  may have a plate surface  202 . 
     Robot  300   
     A robot  300  is schematically illustrated in in  FIG.  1 A ,  FIG.  3 A  relative to the three mutually orthogonal axes (X, Y and Z in  FIG.  1 A ). 
     In illustrative embodiments, robot  300  is disposed so that it can reach the drawer or shelf  201  of a storage apparatus  200 , and each workpiece  180  of a set of workpieces disposed at the storage apparatus  200 , as well as the measurement space  113  (e.g., table  111 ) of the coordinate measuring machine  100 , and a set of workpieces on the storage apparatus  200  and coordinate measuring machine  100 . When disposed in that manner, the robot  300  can transport a workpiece  180  from the drawer or shelf  201  to the measuring space  113  of the coordinate measuring machine  100 , and can transport a workpiece  180  from the measuring space  113  of the coordinate measuring machine  100  to the drawer or shelf  201 . To that end, the robot  300  in this embodiment has an effector  340 , typically at the end  303  of a movable, articulated arm  302 . In this embodiment, the end effector  340  is a gripper  311  at the end  303  of a movable, articulated arm  302 . 
     In some embodiments, the gripper  311  has two or more fingers  314 ,  315  separated by a gripper gap  317 . The gripper  311  is configured to controllably close and open the fingers  314 ,  315  to decrease or increase the gripper gap  317  (respectively) so as to grasp and release (respectively) a workpiece  180 . 
     In illustrative embodiments, the robot  300  (e.g., motion of the robot arm  302  and/or motion of the gripper  311 ) is controlled by a robot controller. For example, in some embodiments, the robot  300  is controlled by robot control computer  379 , or a robot control interface  390 . In alternate embodiments, the robot  300  is controlled by the motion controller  153  or the host computer  170  of the coordinate measuring machine  100 , which are separate and distinct from the robot control computer  379  and the robot control interface  390 . 
     In illustrative embodiments, the robot arm  302  includes sensors configured to measure the location of the end  303  of the arm  302  relative to the base  301  of the robot  300 , each location defined by a corresponding robot arm position datum. 
       FIG.  3 B ,  FIG.  3 C , and  FIG.  3 D  each schematically illustrates an alternate embodiment of a robot  300 , each of which is able to obtain a workpiece, move the workpiece, and deliver the workpiece to the measurement volume of a coordinate measuring machine  100  or other inspection instrument. The robot  300  in  FIG.  3 C  has an arm  302  that is slidably coupled to base  301 . In operation, the arm  302  slides along the base  301 , in the X-axis, to move a workpiece in held by its effector  311 . The arm  302  may also move the effector  311 , and the workpiece, independently in the Y-axis and/or the Z-axis. The robot  300  in  FIG.  3 D  has an arm  302  that is slidably and/or pivotably coupled to base  301 . In the operation of some embodiments, the arm  302  slides relative to the base  301  in the X-axis to move a workpiece held by its effector  311 , and/or pivots relative to the bases  301  to move the effector  311  and workpiece in the X-Y plane. The arm  302  may also move the effector  311 , and the workpiece, independently in the Y-axis and/or the Z-axis. 
       FIG.  4    schematically illustrates an embodiment of a workholder  400  (which may also be referred-to as a workpiece “fixture”). 
     The workholder  400  has a base  410 , which is configured to rest in a stable position on a surface, such as the table  111  of a coordinate measuring machine  100 , for example. In some embodiments, the workholder is affixed to the coordinate measuring machine  100 , and in some embodiments, the workholder  400  simply rests on the table  111  of the coordinate measuring machine  100 . 
     The workholder  400  also has a workpiece interface  420  for holding a workpiece  180 , for example while an inspecting machine  100  inspects the workpiece  180 . To that end, in this embodiment, the workholder  400  has two clamp arms or jaws  421  and  422 . The jaws define a controllable workholder gap  425  between them. For example, in some embodiments, both jaws  421  and  422  are movable relative to the base  410 , and in some embodiments only one of the jaws,  421  or  422 , is movable relative to the base. The workholder gap  425 , which is the distance between the jaws  421 ,  422 , is automatically controllable and can be opened (i.e., the workholder gap  425  increased) or closed (the workholder gap  425  decreased). Moreover, when a workpiece  180  is disposed within the workpiece interface (e.g., clamped by the jaws  421 ,  422 ), the amount of force or pressure exerted on the workpiece  180  by the workholder  400  (e.g., by the jaws  421 ,  422 ) is controllable based on the specific workpiece or type of workpiece  180  being held by the workholder  400 . For example, a delicate workpiece  180  may be held with less clamping force imposed on the workpiece  180  by the jaws  421 ,  422  than the force imposed by the jaws  421 ,  422  on a more robust workpiece  180 . In preferred embodiments, the clamping force imposed on the workpiece  180  by the jaws  421 ,  422  is sufficient to hold the workpiece  180  in a fixed position, relative to the workholder  400 , during inspection by an inspection machine (e.g., a coordinate measuring machine), so the inspection operations do not cause the workpiece  180  to move, wiggle, or shift positions in response to said inspection operations. 
     Illustrative embodiments of a workholder  400  include, as an integral part of the workholder  400 , a computer processor  411 . The computer processor  411  may include a microprocessor from Intel or AMD, or a microprocessor based on an ARM core, or a microcontroller, to name but a few examples. The computer processor  411  may include a memory to store executable instructions (or “computer code”), which memory is accessible by the microprocessor or controller. The computer processor  411  is in control communication with a workholder motor  413 , which is in control communication with one or more of the jaws  421 ,  422 . The computer processor  411  is configured to control the motor  413  to customize the configuration of the workpiece interface  420  for example to controllably open and close the workpiece interface gap  425  by moving one or both of the jaws  421 ,  422  pursuant to execution of computer code. 
       FIG.  5    is a flowchart of an embodiment of a method  500  of sequentially measuring a series of workpieces  180  using an inspection system  90 . The inspection system  90  customizes the configuration of one or more apparatuses of the inspection system  90  (e.g., robot  300 ), and/or customizes the operation of one or more apparatuses of the inspection system  90  (e.g., robot  300 ), to meet the requirements of each workpiece, for example where the workpieces are from difference families of workpieces. Parameters for adapting apparatuses and/or operations of apparatuses are stored in a ruleset  610  corresponding to each workpiece  180  (or corresponding to a family to which the workpiece  180  belongs), as described below, and are read by the controller  91 , for example from a memory within or accessible by the controller  91 , which controller then causes the adaption of the apparatuses and operations accordingly. In some embodiments, the memory within or ruleset database  92 . accessible by the controller  91  is a 
     The method  500  includes, at step  510 , providing the inspection system  90 . In some embodiments, providing the inspection system  90  includes providing a workpiece inspection machine (e.g., coordinate measuring machine  100 ), and/or a workpiece storage apparatus  200 , and/or a robot  300 , and/or a controller  91 . 
     The method  500  includes, at step  520 , providing a plurality of workpieces for inspection by the inspection instrument. In some illustrative embodiments, the workpieces of the plurality of provided workpieces are non-identical to one another. In some illustrative embodiments, each workpiece of the plurality of provided workpieces belongs to a different family of a plurality of families of workpieces. In other words, each workpiece of the plurality of workpieces being from a different family of a plurality of families of workpieces. See, for example, workpieces  686  and  687  of family  684 , and workpieces  688  and  689  of family  685 , in  FIG.  6 B . Consequently, there are a plurality of families of workpieces, and each workpiece  180  may be said to “belong” to a corresponding one of the families of workpieces. 
     The method  500  includes, at step  525 , providing a plurality of rulesets. Each ruleset  610  of the plurality of rulesets corresponds, respectively, to a family of the plurality of families of workpieces, and may be described as a “corresponding” ruleset for said family. See, for example, ruleset  624  corresponding to the workpieces  686  and  687  of family  684 , and ruleset  625  corresponding to the workpieces  688  and  689  of family  685 , in  FIG.  6 B . 
     Each corresponding ruleset includes parameters pursuant to which the controller  91  customizes a set of one or more instruments of the inspection system  90  to inspect a workpiece  180  from the family to which the workpiece  180  belongs. In illustrative embodiments, the plurality of rulesets are stored in a database in data communication with controller  91 , or stored in a memory (e.g., a non-volatile memory) of controller  91 . 
     The method  500  includes, at step  530 , obtaining a workpiece  180  to be inspected by a workpiece inspection instrument (e.g., coordinate measuring machine  100 ), an obtaining a ruleset (a “corresponding ruleset”) corresponding to that workpiece  180 , such a ruleset corresponding to the family to which that workpiece belongs. In illustrative embodiments, the corresponding ruleset is retrieved, by the controller, from the database or memory in which a plurality of workpiece delivery rulesets is stored. In illustrative embodiments, step  530  includes retrieving, from the plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to a workholder. 
     Historically, obtaining a workpiece  180  has been done by having an operator provide the workpiece  180 , or by having an operator manipulate a robot  300  to obtain the workpiece  180 . 
     Some robots may be able to retrieve an object from a location automatically without operator intervention if the location of the object is accurately known to the robot, but in such cases conventional robots can only follow pre-programmed instructions, and lack the ability to adapt their actions to changing conditions. For example, conventional robots cannot automatically adapt their behavior to operate differently for different (e.g., non-identical) workpieces. Sometimes, when consecutively obtaining two workpieces  180  which workpieces  180  are not identical to one another, the robot&#39;s operation for obtaining the first workpiece  180  may not be appropriate for obtaining the second workpiece  180 , such as when the second workpiece is more delicate than the first workpiece and therefore requires a lower gripping pressure by the gripper  311  than the first workpiece non-transient, or such as when the second workpiece  180  has a different shape than the first workpiece  180 , and therefore requires that the gripper  311  grasp the second workpiece  180  in a location on the second workpiece  180  that is specific to that second workpiece  180 , and which would not be possible or viable for grasping the first workpiece  180 . 
     In illustrative embodiments, obtaining a workpiece  180  includes moving a robot arm  302  to the location of the workpiece  180  (e.g., storage  200 ) and grasping the workpiece  180  with an effector (e.g., robot gripper  311 ). 
     The method  500  includes, at step  535 , customizing a set of instruments of the system. Step  535  may be described as customizing the transfer of workpieces to a workholder. In illustrative embodiments, one or more instruments of the set of instruments, and/or the operation one or more instruments of the set of instruments, are customized by the controller  91  pursuant to parameters from the corresponding ruleset for the particular workpiece  180  being moved. In other words, the controller  91  customizes (i) the set of instruments and/or (ii) the operation of the set of instruments pursuant to parameters from the corresponding ruleset. In some embodiments, step  535  includes sequentially, using the control system to: (a) customize at least one of (i) the configuration of the robot, and (ii) the operation of the robot, pursuant to the parameters of the corresponding ruleset; and subsequently (b) operate the robot to deliver said non-identical workpiece to the workholder. 
     In illustrative embodiments, automatically grasping a workpiece  180  (e.g., when the workpiece  180  is at a storage apparatus  200 ) by a robot  300  may involve one or more parameters (e.g., in a ruleset  610 ) that define aspects of the grasping operation. In illustrative embodiments, each workpiece  180  has a set of parameters that are specific to that workpiece  180  (and workpieces that are identical to that workpiece  180 ). 
     For example, grasping a first workpiece  180  may require the gripper fingers  314 ,  315  to be open to a gripper gap  317  of a first width prior to grasping the first workpiece  180 . Consequently, the gripper gap  317  width for the first workpiece  180  may be a parameter in a first robot ruleset, which first robot ruleset corresponds to the first workpiece  180 . 
     However, that gripper gap  317  width may not be sufficient for a second workpiece  180 , for example if the second workpiece  180  requires the gripper fingers  314 ,  315  to be open to a gripper gap  317  of a second width, which is greater than the first width, prior to grasping the second workpiece  180 . For example, the gripper  311  may need to open the gripper fingers  314 ,  315  to a gap of only 2 centimeters to grasp the first workpiece  180 , but if the second workpiece has a diameter of 3 centimeters, then the gripper  311  may need to open the gripper fingers  314 ,  315  to a gap of 3 or 4 centimeters to grasp the second workpiece  180 . Such adjustment and adaptations are easy for a human operator, but not conventionally automatically possible for a robot  300 . Moreover, even a competent and experienced human operator can make a mistake and fail to make such an adjustment or adaptation, and may consequently damage the robot  300  and/or a workpiece  180 , such as by causing the gripper  311  to collide with the workpiece  180 , or by holding the workpiece  180  too loosely, allowing the workpiece  180  to shift positions within the gripper  311 , or fall out of the gripper  311  entirely, in either case incurring damage. 
     Consequently, the gripper gap width  317  for the second workpiece  180  may be a parameter in a second robot ruleset, which second robot ruleset corresponds to the second workpiece  180 . In operation, the controller  91  will read the gripper gap parameter from the first robot ruleset and cause the robot  300  to open the gripper fingers  314 ,  315  to the first gripper gap when obtaining the first workpiece. Similarly, the controller  91  will read the gripper gap parameter from the second robot ruleset and cause the robot  300  to open the gripper fingers  314 ,  315  to the second gripper gap when obtaining the second workpiece. 
     Similarly, for grasping workpieces  180 , grasping a first workpiece  180  for a first family of workpieces  180  may require the gripper fingers  314 ,  315  to be closed to a first closed gripper gap  317  of a first width when closing the gripper fingers  314 ,  315  around the first workpiece  180 . Consequently, the first robot ruleset may include a parameter specifying the gripper width  317  of the gripper fingers  314 ,  315  when grasping the first workpiece  180  from the first family of workpieces, and the controller  91  will read that parameter and cause the robot  300  to close gripper fingers  314 ,  315  accordingly to grasp the first workpiece  180 . Similarly, a second robot ruleset may include a parameter specifying the gripper width  317  of the gripper fingers  314 ,  315  when grasping the second workpiece  180  of a different (e.g., second) family of workpieces, and the controller  91  will read that parameter and cause the robot  300  to close gripper fingers  314 ,  315  accordingly to grasp the second workpiece  180  from the second family of workpieces. In illustrative embodiments, a gripper gap  317  parameter may be specified as a quantitative distance (e.g., 2 mm, 4 mm, etc.), or may be specified in terms of the maximum and/or minimum width of the gripper gap  317  (e.g., open to the minimum gripper gap  317 ; close all the maximum gripper gap  317 ; close to 50% of the maximum gripper gap  317 ). In other embodiments, a gripper gap  317  parameter may be specified in terms of a force or pressure exerted by the griper on a workpiece  180  (e.g., close the gripper gap  317  until the gripper exerts a specified quantitative pressure is on the workpiece; open the gripper gap  317  until force or pressure exerted on the workpiece  180  by the gripper is at (or is reduced to) a specified quantitative pressure. 
     Next, the method includes operating the robot  300  to deliver said non-identical workpiece to the workholder  400 . 
     To that end, the method  500  includes, at step  540 , moving the workpiece  180 , in the grasp of the gripper  311 , to the inspection instrument. For example, step  540  includes, in some embodiments, moving the workpiece  180  to the measurement envelope  113  of the coordinate measurement machine  100 . In illustrative embodiments, this includes moving the robot arm  302  so that the workpiece  180 , in the grasp of the gripper  311 , is within the measurement envelope  113  of the coordinate measurement machine  100 . For example, the robot  300  may deliver the workpiece  180  to a workholder  400  at the table  111  of the coordinate measuring machine  100 . 
     In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies one or more parameters for operating the robot  300  to move and/or release the workpiece  180 . In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies a wait time parameter that quantitatively specifies a wait time between the time that the robot  300  grasps the workpiece  180 , and the time the robot  300  begins moving the workpiece, and/or a parameter that defines a safe position (specified as a set of coordinates in the coordinate system of the system  90 ) for the effector  311  above or adjacent to the workpiece  180  to which the robot moves the effector  311  prior to grasping the workpiece, and/or an orientation of the effector at such a safe point prior to grasping the workpiece  180 . 
     In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies a path through which the robot  300  moves the workpiece  180  in its grasp. For example, the ruleset  610  may specify that the robot  300  moves the workpiece  180  directly (e.g., in a straight line) from the point at which the robot  180  obtained the workpiece  180  to the point (the drop-off point) where the robot  300  is to deliver the workpiece  180 . In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies that the robot  300  is to move the workpiece  180  directly downward (e.g., in the −Z axis of the coordinate system of the inspection system  90 ) after the workpiece  180  arrives at the drop-off point. That specification may quantitatively specify a fixed distance for that downward motion, or may specify that the downward motion continues until a threshold force of the workpiece  180  against a surface (e.g., the table of a coordinate measuring machine  100 , or a surface of a workholder  400 ) is detected. In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies that the robot  300  is to move the workpiece  180  in a plane that is normal to the Z-axis (i.e., and X-Y plane) for a specified quantitative distance, or until a threshold force of the workpiece  180  against a surface (e.g., a surface of a workholder  400 ) is detected. 
     The method also includes step  550 , at which the method  500  delivers the workpiece  180  to the workholder  400 . In some embodiments, step  550  precedes step  540 . In other embodiments, such as when a workholder  400  is already positioned on a coordinate measuring machine, step  550  follows step  540  and the robot  300  delivers the workpiece  180  to the workholder  400 . 
     Some work holders  400  may be able to receive a workpiece  180  from a robot  300  without operator intervention or assistance, but in such cases conventional workholders can only follow pre-programmed instructions, and lack the ability to adapt their actions to changing conditions. For example, conventional workholders cannot adapt their behavior to operate differently for different (e.g., non-identical) workpieces  180 . Sometimes, when consecutively receiving two workpieces  180  which workpieces  180  are not identical to one another, the workholder&#39;s operation for receiving (e.g., from the robot  300 ) the first workpiece  180  may not be appropriate for receiving the second workpiece  180 , such as when the second workpiece is more delicate than the first workpiece and therefore requires a lower gripping pressure by the workholders than the first workpiece  180 , or such as when the second workpiece  180  has a different shape than the first workpiece  180 , and therefore requires that the workholder  400  grasp the second workpiece  180  in a location on the second workpiece  180  that is specific to that second workpiece  180 , and which would not be possible or viable for grasping the first workpiece  180 . 
     In some embodiments, the ruleset  610  corresponding to the workpiece  180  specifies one or more parameters for operating the workholder  400  to receive, and/or hold, and/or release the workpiece  180 . 
     At step  560 , the inspection instrument (e.g., coordinate measuring machine  100 ) inspects the workpiece  180  held in the workholder  400 . 
     At step  570 , typically after the inspection instrument completes or terminates its inspection of the workpiece  180  held in the workholder  400 , the robot  300  retrieves the workpiece  180  from the workholder  400 . Some robots  300  may be able to retrieve a workpiece  180  from a workholder  400  without operator intervention, but in such cases conventional robots  300  can only follow pre-programmed instructions, and lack the ability to adapt their actions to changing conditions. For example, conventional robots cannot adapt their behavior to operate differently for different (e.g., non-identical) workpieces. Sometimes, when consecutively obtaining two workpieces  180  which workpieces  180  are not identical to one another, the robot&#39;s operation for obtaining the first workpiece  180  may not be appropriate for obtaining the second workpiece  180 . 
     Moreover, the operation of the workholder  400  may depend on, or be correlated to, the specific workpiece  180 , such that the operation of the workholder  400  is different for each different workpiece. For example, each workpiece  180  may have specific corresponding requirements for how wide to open the jaws of the workholder  400 , how fast to open the workholder  400 , when to open the workholder relative to the motion or timing of the robot working to retrieve the workpiece  180  from the workholder  400 , to name but a few examples. 
     At step  580 , after grasping the workpiece  180  when the workpiece  180  is within the grasp of and under control of the robot  300 , the method removes the workpiece from the workholder  400 , and from the measurement envelope  113  of the coordinate measuring machine  100 . In some embodiments, the robot  300  moves the workpiece  180  back to the workpiece storage apparatus  200 . In other embodiments, the robot  300  moves the workpiece  180  to a different storage location, or to a location specified for storing workpieces  180  that have failed inspection. In some embodiments, when a workpiece  180  fails inspection by the coordinate measuring machine  100 , the robot  300  physically changes the workpiece  180 , for example by bending the workpiece  180 , crushing the workpiece  180 , or marking the workpiece  180 , to name but a few examples. 
     At step  590 , the method determines whether there is at least one additional workpiece  180  to be inspected by the coordinate measuring machine. If not (“No”), then the method ends, but if so (“Yes”), then the method loops (step  591 ) to step  530  to obtain the next workpiece  180 . In some embodiments, the next workpiece  180  is non-identical to the previously-inspected workpiece  180 , and so parameters of the operation of the robot  300  and/or the workholder  400 , and/or the coordinate measuring machine  100 , may be automatically adjusted or adapted to customize the robot  300  and/or the workholder  400 , and/or the coordinate measuring machine  100  to perform the steps of the method for that next workpiece  180 . 
       FIG.  6 A  schematically illustrates a ruleset  610  that includes and provides parameters (or “rules”) that specify one or more parameters or instructions for the operation of one or more inspection instruments of a workpiece inspection system  90 . Rulesets may also be referred-to as “parameter sets.” A ruleset  610  may include, for example, parameters for operating a robot  300  as part of an inspection system  90 , and/or parameters for operating a workholder  400  as part of an inspection system  90 , to name but a few examples. For example, a ruleset that includes parameters for operating a robot  300  may be referred to as a “robot ruleset.” A ruleset that includes parameters for operating a workholder  400  may be referred to as a “workholder ruleset.”  FIG.  6 A  schematically illustrates a ruleset  610  that may have a robot ruleset  611  and/or a workholder ruleset  612 . In general, a ruleset  610  may be provided in a JSON database file, or an XML file. 
     A ruleset  610  may include one or more of the following parameters:
         A parameter specifying a pre-grasp width of gripper opening gap  317  for obtaining (e.g., grasping or picking-up) the corresponding workpiece  180 , pursuant to which the system controller  91  causes the gripper to open to the specified pre-grasp width; and/or   A parameter specifying a width of gripper opening gap  317  for releasing (e.g., dropping or letting go of) the corresponding workpiece  180 , pursuant to which the system controller  91  causes the gripper to open to the specified release width;   A parameter instructing the robot  300  to open the gripper to its maximum gap  317 , pursuant to which the system controller  91  controls the robot  300  to open the gripper  311  to its maximum width; and/or   A parameter quantitatively specifying a gap which gap is less than the maximum gap of the grippe  311 , pursuant to which the system controller  91  controls the robot  300  to open the gripper  311  to the specified gap; and/or   A parameter instructing the robot  300  to close the gripper  311  to its minimum gap; and/or   A parameter specifying a wait time between the robot&#39;s effector arriving at a location of a workpiece  180  and a step of grasping said workpiece  180 , pursuant to which the system controller  91  causes the robot to delay grasping the workpiece until said wait time has elapsed; and/or   Specification of a safe position above a workpiece  180  prior to grasping the workpiece  180  for delivery to a workpiece inspection machine  100 , the safe position specified in coordinates of the inspection system  90 , pursuant to which the system controller  91  causes the robot  300  to move the effector to the safe position prior to grasping the workpiece;   Specification of the orientation of the robot&#39;s effector relative to the workpiece  180  prior to grasping the workpiece  180  for delivery to a workpiece inspection machine  100 , pursuant to which the system controller  91  causes the robot  300  or orient the effector to the specified orientation relative to the workpiece  180  prior to grasping the workpiece  180 ; and/or   Specification of a safe position above a workholder  400  prior to delivering the workpiece  180  to the workholder  400 , pursuant to which the system controller  91  causes the robot  300  to move the workpiece  180  to the safe position above the workholder  400  prior to delivering the workpiece  180  to the workholder  400 ; and/or   A parameter specifying an orientation of the effector holding a workpiece  180  prior to delivering the workpiece  180  to the workholder  400 , the orientation specified relative to the workholder  400  into which the workpiece  180  is to be placed, pursuant to which the system controller  91  causes the robot  300  to orient the workpiece to the specified orientation; and/or   A parameter specifying a path pursuant to which the robot  300  to moves the workpiece  180  directly to the workholder  400  in a direction normal to the workpiece interface until the workholder  400  applies to the workpiece  180  a specified quantitative force; and/or   A parameter specifying a path pursuant to which the system controller  91  causes the robot  300  to move the workpiece  180  the workholder  400  in a direction in a plane, which plane is normal to an axis that is normal to the workpiece interface, until the workholder  400  applies to the workpiece  180  a specified quantitative force; and/or   A parameter specifying that the workholder  400  should open the workpiece interface to its maximum workholder gap, pursuant to which the controller controls the workholder to open the workpiece interface to its maximum workholder gap; and/or   A parameter specifying that the workholder  400  should close the workpiece interface to its minimum workholder gap, pursuant to which the controller controls the workholder to close the workpiece interface to its minimum workholder gap; and/or   A parameter quantitatively specifying that the workholder  400  should open the workpiece interface to a specified distance, pursuant to which the controller controls the workholder to open the workpiece interface to the specified distance; and/or   A parameter quantitatively specifying a closing force applied to the workpiece  180  by the workpiece interface, pursuant to which the controller controls the workholder to close its workpiece interface until said closing force is applied; and/or   A parameter quantitatively specifying an opening force applied to the workpiece  180  by the workpiece interface, pursuant to which the controller controls the workholder to open its workpiece interface until said opening force is applied; and/or   A parameter specifying a maximum closing speed for closing the workpiece interface, pursuant to which the controller controls the workholder to open the workpiece interface at a speed not greater than the specified maximum closing speed; and/or   A parameter quantitatively specifying a closing delay time between (a) positioning of the workpiece  180  by a robot  300  in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece  180 , pursuant to which the controller controls the workholder to delay closing the workpiece interface until such closing delay time has elapsed; and/or   A parameter quantitatively specifying an opening delay time between (a) completion of an inspection operation by a workpiece inspection machine  100 , and (b) opening the workpiece interface to release the workpiece  180 , pursuant to which the controller controls the workholder to delay opening the workpiece interface until such opening delay time has elapsed,       

     to name but a few examples. 
     One or more instruments, or the operation of one or more instruments, of a system  90  under control of controller  91  may be customized pursuant to any one or more of the parameters described above. 
       FIG.  6 B  schematically illustrates several rulesets, each of which may be described generally as a ruleset  610 .  FIG.  6 B  includes several non-identical workpieces  681 ,  682 , and  683 . Each non-identical workpiece  681 ,  682 ,  683  and  684  has a corresponding non-identical ruleset, in this embodiment rulesets  621 ,  622 , and  623 , respectively. More specifically in this embodiment, workpiece  681  has a corresponding ruleset  621 ; workpiece  682  has a corresponding ruleset  622 ; and workpiece  683  has a corresponding ruleset  623 . Each ruleset  621 - 623  specifies operational parameters and/or instructions for controlling instruments of an inspection system  90  operating on the workpiece  681 - 683  corresponding to the ruleset. 
       FIG.  6 B  also schematically illustrates two families of parts, family  684  and family  685 , each of which includes a set of parts. In each family, each workpiece is associated with the same (or an identical) workpiece delivery ruleset ( 624  and  624 , respectively, in this example) for customizing the configuration and/or the operation of at least one instruments of the set of instruments of a workpiece inspection system to move a workpiece and deliver the workpiece to a workholder. The workpieces in said set of workpieces may identical to one another, or may be non-identical to one another, as long as the customization or configuration of said set of instruments of a workpiece inspection system is performed pursuant to the same (or an identical) workpiece delivery ruleset. 
     In an illustrative embodiment, family  684  includes a set having a plurality of parts. In the example of  FIG.  6 B , the parts are numbered  686  and  687 . In some embodiments, the plurality of parts  686  and  687  are identical to one another, and in other embodiments, the plurality of parts  686  and  687  are non-identical to one another. In either case, each of the plurality of parts  686  and  687  is movable, by the robot  300 , pursuant to ruleset  624 . 
     In an illustrative embodiment, family  685  includes a set having a plurality of parts. In the example of  FIG.  6 B , the parts are numbered  688  and  689 . In some embodiments, the plurality of parts  688  and  689  are identical to one another, and in other embodiments, the plurality of parts  688  and  689  are non-identical to one another. In either case, each of the plurality of parts  688  and  689  is movable, by the robot  300 , pursuant to ruleset  625 . 
     In operation, as part of obtaining a workpiece  180  at step  530 , an inspection system also obtains the ruleset for that workpiece  180 . For example, if an inspection system is operating on workpiece  681 , the system will obtain ruleset  621 ; and if the inspection system is operating on workpiece  682 , the system will obtain ruleset  622 . As another example, if the inspection system is operating on either workpiece  686  or workpiece  687 , the system will obtain ruleset  624 . As another example, if the inspection system is operating on either workpiece  688  or workpiece  688 , the system will obtain ruleset  627 . To that end, the ruleset  610  may be stored in a memory  156  of a CMM controller; or in a memory of a computer  170  or computer  179 , to name but a few examples, each such ruleset  610  stored with information correlating the ruleset to a corresponding workpiece  180 . 
     In some embodiments, the system (e.g., system controller  91 ) recognizes or identifies each workpiece  180  obtained at step  530 , and in response identifies and retrieves the ruleset  610  corresponding to that workpiece  180 . For example, a system controller  91  may recognize or identify a workpiece  180  by imaging the workpiece  180  with a camera (e.g., CMM camera  141 ) and assessing the image. For example, a system controller  91  may identify a workpiece  180  in an image by assessing the image with one or more neural networks trained to recognize or identify a workpiece in an image. In other embodiments, workpiece inspection codes executing on a system controller  91  may specify each workpiece in a sequence of workpiece to be inspected, and contemporaneously identify and retrieve the ruleset corresponding to each such workpiece. 
     According to the foregoing, some embodiments include a workpiece inspection system for sequentially delivering each workpiece of a plurality of workpieces, each workpiece being from a different family of workpieces, to a workholder. In some embodiments, the system includes a set of instruments, the set of instruments comprising a workpiece inspection instrument and a robot disposed to deliver to the workholder each workpiece of the plurality of workpieces, each workpiece of the plurality of workpieces being from a different family of a plurality of families of workpieces; a control system in control communication with the set of instruments of the workpiece inspection system, the control system configured to, for each workpiece: retrieve, from a plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to the workholder; and sequentially customize at least one instrument of the system and/or operation of at least one instrument of the system, according to any one or more of the parameters described above. 
     For example, in some embodiments the system (via controller  91 ) customizes at least one of (i) the configuration of the robot, and (ii) the operation of the robot, pursuant to the parameters of the corresponding ruleset; and subsequently (b) operates the robot to deliver said non-identical workpiece to the workholder. 
     In some embodiments, the corresponding ruleset includes a parameter quantitatively specifying a closing delay between (a) positioning of the workpiece by the robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the control system the control system customizes the operation of the workholder to close the workpiece interface after passing of said closing delay. 
     REFERENCE NUMBERS 
     Reference numbers used herein include the following:
           90 : Workpiece inspection system;     91 : Workpiece inspection system controller (or “computer implemented controller”);     92 : Ruleset database;     100 : Coordinate measuring machine;     101 : Floor;     102 : Environment;     110 : Base;     111 : Table;     112 : Plane;     113 : Measurement space (or measurement envelope);     115 : Probe rack;     120 : Moveable features;     121 : Bridge legs;     122 : Table scale;     123 : Bridge;     124 : Bridge scale;     125 : Carriage;     126 : Spindle;     127 : Spindle scale;     128 : Bearing;     130 : Arm;     131 : Moveable joint;     132 : Rotary encoder;     140 : Measuring sensor;     141 : Camera;     142 : Environmental sensor;     150 : Control system;     151 : Bus;     152 : Communications interface;     153 : Motion Controller;     154 : Measurement analyzer;     155 : Sensor input;     156 : Memory;     157 : Computer processor;     160 : User interface;     161 : X-axis controls;     162 : Y-axis controls;     163 : Z-axis controls;     165 : Camera motion controls;     166 : Camera focus control;     167 : Camera record control;     170 : Host computer;     171 : Screen;     172 : Keyboard;     173 : Mouse;     174 : Computer memory;     175 : Memory interface/communications port;     176 : Communication link;     178 : Network;     179 : Computer;     180 : Workpiece;     181 : Geometry;     182 : Edge;     183 : Corner;     184 : Flat surface;     185 : Curved surface;     186 : Cavity;     187 : Inside angle;     188 : Waviness;     189 : Surface finish;     190 : Jogbox;     191 : Cable;     200 : Workpiece storage apparatus;     201 : Storage container;     202 : Storage plate surface;     203 : Storage plate;     300 : Robot;     301 : Robot base;     302 : Robot arm;     303 : Distal end of robot arm;     311 : Robot gripper;     314 : First gripper finger;     315 : Second gripper finger;     317 : Robot gripper gap;     340 : Robot end effector (e.g., gripper, etc.);     379 : Robot control computer;     390 : Robot control interface;     400 : Workholder;     410 : Workholder base;     411 : Workholder processor;     413 : Workholder motor;     420 : Workpiece interface;     421 : First clamp arm;     422 : Second clamp arm;     425 : Controllable workholder gap.       

     Various embodiments may be characterized by the potential claims listed in the paragraphs following this paragraph (and before the actual claims provided at the end of this application). These potential claims form a part of the written description of this application. Accordingly, subject matter of the following potential claims may be presented as actual claims in later proceedings involving this application or any application claiming priority based on this application. Inclusion of such potential claims should not be construed to mean that the actual claims do not cover the subject matter of the potential claims. Thus, a decision to not present these potential claims in later proceedings should not be construed as a donation of the subject matter to the public. 
     Without limitation, potential subject matter that may be claimed (prefaced with the letter “P” so as to avoid confusion with the actual claims presented below) includes: 
     P1. A method of operating a workpiece inspection system ( 90 ) comprising a plurality of instruments ( 100 ;  300 ), the method comprising: 
     providing a set of instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ); 
     providing a control system ( 91 ) in control communication with the set of instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ); 
     providing, for each workpiece of a plurality of non-identical workpieces, a corresponding non-identical ruleset, the ruleset comprising parameters for controlling the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to automatically reconfigure (or customize) the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to inspect each workpiece of the plurality of non-identical workpieces; and 
     causing the control system ( 91 ) to operate the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to sequentially inspect the plurality of non-identical workpieces by automatically reconfiguring the set of the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) for each such non-identical workpiece pursuant to the non-identical ruleset corresponding to said non-identical workpiece. 
     P2: The method of P1, wherein the set of instruments comprises: a workpiece inspection machine. 
     P3: The method of P1, wherein the set of instruments comprises: a coordinate measuring machine. 
     P4: The method of any of P1-P3, wherein the set of instruments comprises: a robot having an effector to individually grasp and hold each workpiece of a plurality of non-identical workpieces. 
     P5: The method of any of P1-P4, wherein the ruleset comprises a robot ruleset comprising a parameter specifying a wait time between the effector arriving at a location of a workpiece and a step of grasping said workpiece. 
     P6: The method of any of P1-P5, wherein the ruleset comprises a robot ruleset comprising specification of a safe position above a workpiece prior to grasping the workpiece for delivery to a workpiece inspection machine, the safe position specified in coordinates of the inspection system. 
     P7: The method of any of P1-P6, wherein the ruleset comprises a robot ruleset comprising a specification of the orientation of the effector relative to the workpiece prior to grasping the workpiece for delivery to a workpiece inspection machine. 
     P8: The method of any of P1-P7, wherein the ruleset comprises a robot ruleset comprising a safe position above a workholder prior to delivering the workpiece to the workholder. 
     P9: The method of any of P1-P8, wherein the ruleset comprises a robot ruleset comprising specification of the orientation of the effector holding a workpiece prior to delivering the workpiece to the workholder, the orientation specified relative to the workholder into which the workpiece is to be placed. 
     P10: The method of any of P1-P9 wherein the ruleset comprises a robot ruleset comprising specification of the motion of the robot to deliver a workpiece to a workholder by moving the workpiece directly to the workholder. 
     P11: The method of any of P1-P10 wherein the ruleset comprises a robot ruleset instructing the robot to move the workpiece directly to the workholder in a direction normal to the workpiece interface until the workholder applies to the workpiece a specified quantitative force. 
     P12: The method of any of P1-P11 wherein the ruleset comprises a robot ruleset instructing the robot to move the workpiece the workholder in a direction in a plane, which plane is normal to an axis that is normal to the workpiece interface, until the workholder applies to the workpiece a specified quantitative force. 
     P13: The method of any of P1-P12 wherein the effector is a gripper, and wherein the ruleset comprises a robot ruleset instructing the robot to open the gripper to its maximum gap. 
     P14: The method of any of P1-P13 wherein the effector is a gripper, and wherein the ruleset comprises a robot ruleset instructing the robot to open the gripper to a specified quantitative gap, which specified quantitative gap is less than its maximum gap. 
     P15: The method of any of P1-P14 wherein the effector is a gripper, and wherein the ruleset comprises a robot ruleset instructing the robot to close the gripper to its minimum gap. 
     P16: The method of any of P1-P15 wherein the set of instruments comprises: a workholder having an automatically reconfigurable workpiece interface, the workpiece interface automatically reconfigurable to a plurality of non-identical configurations, each configurations of the plurality of non-identical configurations corresponding to a one of the workpieces of the plurality of non-identical workpieces. 
     P17: The method of any of P1-P16 wherein the ruleset comprises a workholder ruleset instructing the workholder to open the workpiece interface to its maximum workholder gap. 
     P18: The method of any of P1-P17 wherein the ruleset comprises a workholder ruleset instructing the workholder to open the workpiece interface to a specified workholder quantitative distance that is less than its maximum workholder gap. 
     P19: The method of any of P1-P18 wherein the ruleset comprises a workholder ruleset instructing the workholder to close the workpiece interface to its minimum workholder gap. 
     P20: The method of any of P1-P19 wherein the ruleset comprises a workholder ruleset instructing the workholder to open the workpiece interface to a specified quantitative distance. 
     P21: The method of any of P1-P20 wherein the ruleset comprises a workholder ruleset quantitatively specifying a closing force applied to the workpiece by the workpiece interface, and instructing the workholder to close its workpiece interface until said closing force is applied. 
     P22: The method of any of P1-P21 wherein the ruleset comprises a workholder ruleset quantitatively specifying an opening force applied to the workpiece by the workpiece interface, and instructing the workholder to open its workpiece interface until said opening force is applied. 
     P23: The method of any of P1-P22 wherein the ruleset comprises a workholder ruleset specifying a maximum closing speed for closing the workpiece interface. 
     P24: The method of any of P1-P23 wherein the ruleset comprises a workholder ruleset quantitatively specifying a closing delay between (a) positioning of the workpiece by a robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece. 
     P25: The method of any of P1-P24 wherein the ruleset comprises a workholder ruleset quantitatively specifying an opening delay between (a) completion of an inspection operation by a workpiece inspection machine, and (b) opening the workpiece interface to release the workpiece. 
     P26: The method of any of P1-P25 wherein the ruleset is provided in a JSON database file. 
     P27: The method of any of P1-P25 wherein the ruleset is provided in an XML file. 
     P41: A workpiece inspection system comprising: 
     a set of instruments of the workpiece inspection system ( 90 ), the set of instruments comprising a workpiece inspection instrument ( 100 ) and a robot ( 300 ) disposed to deliver to the workpiece inspection instrument ( 100 ) each workpiece of a plurality of non-identical workpieces; 
     a control system ( 91 ) in control communication with the set of instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ), the control system ( 91 ) configured to: 
     provide, for each workpiece of the plurality of non-identical workpieces, a corresponding non-identical ruleset, each such ruleset comprising parameters for controlling the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to automatically reconfigure (or customize) the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to inspect each workpiece of the plurality of non-identical workpieces; and 
     control the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) to sequentially inspect the plurality of non-identical workpieces by automatically reconfiguring the set of the instruments ( 100 ;  300 ) of the workpiece inspection system ( 90 ) for each such non-identical workpiece pursuant to the non-identical ruleset corresponding to said non-identical workpiece. 
     P42: The system of P41, wherein the workpiece inspection instrument comprises a coordinate measuring machine.
 
P43: The system of any of P41-P42 the robot comprises an effector to individually grasp and hold each workpiece of a plurality of non-identical workpieces.
 
P44: The system of any of P41-P43, wherein the non-identical ruleset comprises a robot ruleset comprising specification of the orientation of the effector holding a workpiece prior to delivering the workpiece to the workholder, the orientation specified relative to the workholder into which the workpiece is to be placed.
 
P71: A method of operating a workholder for an inspection machine to inspect a plurality of non-identical workpieces, the method comprising:
         providing a programmable workholder, the programmable workholder having an automatically reconfigurable workpiece interface;   providing, for each workpiece of a plurality of non-identical workpieces, a corresponding ruleset for configuring the programmable workholder to hold said workpiece;   providing a controller in control communication with the programmable workholder, the controller configured to cause reconfiguration of the programmable workholder according to a ruleset corresponding to a workpiece to be inspected; and   for each non-identical workpiece to be inspected by the inspection machine, causing the controller to operate the programmable workholder pursuant to the ruleset to customize the workpiece interface to said workpiece to be inspected.
 
P72. The method of P71, wherein causing the controller to operate the programmable workholder pursuant to the ruleset to customize the workpiece interface to said workpiece to be inspected comprises: causing the controller to reconfigure the programmable workholder pursuant to the ruleset to customize the workpiece interface to said workpiece to be inspected.
 
P73: The method of any of P71-P72, wherein causing the controller to operate the programmable workholder pursuant to the ruleset to customize the workpiece interface to said workpiece to be inspected comprises: causing the controller to open the workpiece interface to a specified distance, the specified distance specific to the workpiece to be inspected.
 
P81: A system ( 90 ) for inspecting a plurality of non-identical workpieces, the system ( 90 ) comprising:
   an inspection machine ( 100 );   a robot ( 300 ) configured to obtain each workpiece ( 180 ) of a plurality of non-identical workpieces and deliver each such workpiece ( 180 ) to the inspection machine ( 100 );   a controller ( 91 ) in control communication with the robot ( 300 ), the controller ( 91 ) in data communication with a memory storing, for each workpiece ( 180 ) of the plurality of non-identical workpieces, a corresponding robot-control ruleset ( 611 );   the controller ( 91 ) configured to, for each non-identical workpiece ( 180 ) to be inspected by the inspection machine ( 100 ), operate the robot to obtain each workpiece ( 180 ) of the plurality of non-identical workpieces and deliver each such workpiece ( 180 ) to the inspection machine ( 100 ) for inspection.       

     P101: A method of operating a workpiece inspection system, comprising a plurality of instruments, to sequentially inspect a plurality of non-identical workpieces, the method comprising:
         providing a set of instruments of the workpiece inspection system, the set of instruments comprising a coordinate measuring machine having a measurement volume, and a robot having an effector configured to grasp each workpiece, and disposed to move each workpiece to the measurement volume of the coordinate measuring machine;   providing a control system in control communication with the set of instruments of the workpiece inspection system;   providing, for each workpiece of a plurality of non-identical workpieces, a corresponding non-identical ruleset, the corresponding non-identical ruleset comprising parameters for controlling the instruments of the workpiece inspection system to automatically customize the workpiece inspection system to inspect each workpiece of the plurality of non-identical workpieces; and sequentially:   for each non-identical workpiece of the plurality of non-identical workpieces causing the control system to:
           (a) automatically customize at least one of the configuration of the set of the instruments of the workpiece inspection system and the operation of the set of the instruments of the workpiece inspection system, for each such non-identical workpiece pursuant to the non-identical ruleset corresponding to said non-identical workpiece; and subsequently to   (b) operate the instruments of the workpiece inspection system to inspect said non-identical workpiece.
 
P102. The method of P101 wherein:
   
           the non-identical ruleset comprises a parameter specifying a wait time between the effector arriving at a location of a workpiece and a step of grasping said workpiece with the effector, pursuant to which the control system operates the robot to pause for the wait time prior to grasping said workpiece with the effector.
 
P103. The method of any of P101-P102, wherein:
   the non-identical ruleset comprises a parameter specifying a safe position for the effector above a workpiece prior to grasping the workpiece for delivery to the coordinate measuring machine, pursuant to which the control system operates the robot to move the effector to the safe position prior to grasping the workpiece.
 
P104. The method of any of P101-P103 wherein:
   the ruleset comprises a parameter specifying an orientation of the effector relative to the workpiece prior to grasping the workpiece for delivery to the coordinate measuring machine, pursuant to which the control system operates the robot to orient the effector relative to the workpiece prior to grasping the workpiece with the effector.
 
P105. The method of any of P101-P104 wherein the effector comprises a gripper having a maximum gripper gap, and wherein the ruleset comprises a parameter quantitatively specifying a gap width that is which is less than the maximum gripper gap, pursuant to which the control system operates the robot to open the gripper to the specified gap width.
 
P106. The method of any of P101-P105 wherein the effector comprises a gripper having a minimum gripper gap, and wherein the ruleset comprises a parameter instructing the robot to close the gripper to its minimum griper gap.
 
P107. The method of any of P101-P106 wherein each workpiece of the plurality of non-identical workpieces has a corresponding distinguishable feature, and wherein the set of instruments further comprises:
   a workholder having a workpiece interface, the workpiece interface automatically reconfigurable to a plurality of non-identical configurations, each configuration of the plurality of non-identical configurations corresponding to a respective non-identical feature of one of the workpieces of the plurality of non-identical workpieces; and   each corresponding non-identical ruleset comprises a parameter for automatically reconfiguring the workpiece interface to customize the workpiece interface for the corresponding workpiece.
 
P108. The method of P107 wherein the workpiece interface has a maximum workpiece interface gap, and wherein non-identical ruleset comprises a parameter quantitatively specifying a workpiece interface gap width that is less than the maximum workpiece interface gap, pursuant to which the control system operates the workholder to open the workpiece interface to the specified workpiece interface gap width.
 
P109. The method of P107 wherein the workpiece interface has an automatically configurable workpiece interface gap, and wherein the non-identical ruleset comprises a parameter quantitatively specifying a workpiece interface gap width, pursuant to which the control system operates the workholder to open the workpiece interface to the specified workpiece interface gap width.
 
P110. The method of P107 wherein the non-identical ruleset comprises a parameter quantitatively specifying a maximum closing speed for closing the workpiece interface, pursuant to which the control system operates the workholder to close the workpiece interface at a speed not greater than the maximum closing speed.
 
P111. The method of P107 wherein the non-identical ruleset comprises a parameter quantitatively specifying a closing delay between (a) positioning of the workpiece by the robot in a specified position relative to the workpiece interface, and (b) closing of the workpiece interface to grasp the workpiece, pursuant to which the control system operates the workholder to close the workpiece interface after passing of said closing delay.
 
P112. The method of P107 wherein the ruleset comprises a parameter quantitatively specifying an opening delay between (a) completion of an inspection operation by a workpiece inspection machine, and (b) opening the workpiece interface to release the workpiece, pursuant to which the control system operates the workholder to open the workpiece interface after passing of said opening delay.
 
P121. A workpiece inspection system for sequentially inspecting each workpiece of a plurality of non-identical workpieces, the system comprising:
   a set of instruments, the set of instruments comprising a workpiece inspection instrument and a robot disposed to deliver to the workpiece inspection instrument each workpiece of the plurality of non-identical workpieces;   a control system in control communication with the set of instruments of the workpiece inspection system, the control system configured to:
           obtain, for each workpiece of the plurality of non-identical workpieces, a corresponding non-identical ruleset, each such non-identical ruleset comprising parameters for customizing the workpiece inspection system for each workpiece of the plurality of non-identical workpieces; and   control the instruments of the workpiece inspection system to sequentially inspect the plurality of non-identical workpieces by automatically customizing the operation of the set of the instruments of the workpiece inspection system for each such non-identical workpiece pursuant to the non-identical ruleset corresponding to said non-identical workpiece.
 
P122. The system of P121, wherein the workpiece inspection instrument comprises a coordinate measuring machine.
 
P123. The system of any of P121-P122, wherein
   
           the robot comprises an effector configured to grasp a workpiece; and each corresponding non-identical ruleset comprises a parameter specifying an orientation of the effector relative to the workpiece prior to grasping the workpiece for delivery to the workpiece inspection instrument, pursuant to which the control system operates the robot to orient the effector relative to the workpiece prior to grasping the workpiece.
 
P124. The system of any of P121-P123, wherein each workpiece of the plurality of non-identical workpieces has a corresponding non-identical distinguishable feature, and wherein the set of instruments further comprises:
   a workholder having a workpiece interface, the workpiece interface automatically reconfigurable to a plurality of non-identical configurations, each configuration of the plurality of non-identical configurations corresponding to a respective non-identical feature of one of the workpieces of the plurality of non-identical workpieces; and   each corresponding non-identical ruleset comprises a parameter for automatically reconfiguring the workpiece interface to customize the workpiece interface for the corresponding workpiece.
 
P141. A non-transient medium storing computer code that, when executed by a computer-implemented control system, cause instruments of a workpiece inspection system to perform a method of sequentially inspecting each workpiece of a plurality of non-identical workpieces, the method comprising:
   providing, for each workpiece of the plurality of non-identical workpieces, a corresponding non-identical ruleset, the corresponding non-identical ruleset comprising parameters for controlling the instruments of the workpiece inspection system to automatically customize the workpiece inspection system to inspect each workpiece of the plurality of non-identical workpieces; and sequentially   for each non-identical workpiece of the plurality of non-identical workpieces, causing a control system to:
           (a) automatically customize the configuration of the set of the instruments of the workpiece inspection system, and/or the operation of the set of the instruments of the workpiece inspection system, for each such non-identical workpiece pursuant to the non-identical ruleset corresponding to said non-identical workpiece; and subsequently to   (b) operate the instruments of the workpiece inspection system to inspect said non-identical workpiece.
 
P142. The non-transient medium of P141, wherein the set of instruments comprises:
   
           a workholder having a workpiece interface, the workpiece interface automatically reconfigurable to a plurality of non-identical configurations, each configuration of the plurality of non-identical configurations corresponding to a respective non-identical feature of one of the workpieces of the plurality of non-identical workpieces; and   each corresponding non-identical ruleset comprises a parameter for automatically reconfiguring the workpiece interface to customize the workpiece interface for the corresponding workpiece.
 
P143. The non-transient medium of any of P141-P142, wherein the set of instruments comprises:
   a workholder having a workpiece interface, the workpiece interface configured to close to grasp a workpiece; and   wherein the non-identical ruleset comprises a parameter quantitatively specifying a maximum closing speed for closing the workpiece interface, pursuant to which the control system operates the workholder to close the workpiece interface at a speed not greater than the maximum closing speed.
 
P144. The non-transient medium of any of P141-P143, wherein the set of instruments comprises:
   a workholder having a workpiece interface, the workpiece interface configured to open to receive a workpiece; and   the non-identical ruleset comprises a parameter quantitatively specifying a workpiece interface gap width, pursuant to which the control system operates the workholder to open the workpiece interface to the specified workpiece interface gap width to receive the workpiece corresponding to the non-identical ruleset.
 
P145. The non-transient medium of any of P141-P144, wherein the computer code, when executed by a computer-implemented control system, causes instruments of a workpiece inspection system to perform any of the methods of P101-P112.
 
P151: A computer-implemented method of operating a robot of an inspection system, the method comprising:
   providing a set of workpieces to be inspected by the inspection system, the set of workpieces comprising:
           a first workpiece requiring a first set of robot operations for delivering the first workpiece to a workholder; and   a second workpiece requiring a second set of robot operations for delivering the second workpiece to the workholder, the second set of robot operations not identical to the first set of robot operations;   
           for the first workpiece, providing a first ruleset corresponding to the first workpiece;   configuring one of (i) the robot and (ii) operation of the robot to automatically deliver the first workpiece to the workholder, and subsequently automatically delivering the first workpiece to the workholder;   for the second workpiece, providing a second ruleset corresponding to the second workpiece;   configuring one of (i) the robot and (ii) operation of the robot to automatically deliver the second workpiece to the workholder, and subsequently automatically delivering the second workpiece to the workholder.       

     Various embodiments of this disclosure may be implemented at least in part in any conventional computer programming language. For example, some embodiments may be implemented in a procedural programming language (e.g., “C”), or in an object-oriented programming language (e.g., “C++”), or in Python, R, Java, LISP, or Prolog. Other embodiments of this disclosure may be implemented as preprogrammed hardware elements (e.g., application specific integrated circuits, FPGAs, and digital signal processors), or other related components. 
     In an alternative embodiment, the disclosed apparatus and methods may be implemented as a computer program product for use with a computer system. Such implementation may include a series of computer instructions fixed either on a tangible medium, such as a non-transient computer readable medium (e.g., a diskette, CD-ROM, ROM, FLASH memory, or fixed disk). The series of computer instructions can embody all or part of the functionality previously described herein with respect to the system. 
     Those skilled in the art should appreciate that such computer instructions can be written in a number of programming languages for use with many computer architectures or operating systems. Furthermore, such instructions may be stored in any memory device, such as semiconductor, magnetic, optical or other memory devices, and may be transmitted using any communications technology, such as optical, infrared, microwave, or other transmission technologies. 
     Among other ways, such a computer program product may be distributed as a removable medium with accompanying printed or electronic documentation (e.g., shrink wrapped software), preloaded with a computer system (e.g., on system ROM or fixed disk), or distributed from a server or electronic bulletin board over the network (e.g., the Internet or World Wide Web). Of course, some embodiments of this disclosure may be implemented as a combination of both software (e.g., a computer program product) and hardware. Still other embodiments of this disclosure are implemented as entirely hardware, or entirely software. 
     Computer program logic implementing all or part of the functionality previously described herein may be executed at different times on a single processor (e.g., concurrently) or may be executed at the same or different times on multiple processors and may run under a single operating system process/thread or under different operating system processes/threads. Thus, the term “computer process” refers generally to the execution of a set of computer program instructions regardless of whether different computer processes are executed on the same or different processors and regardless of whether different computer processes run under the same operating system process/thread or different operating system processes/threads. 
     The embodiments described above are intended to be merely exemplary; numerous variations and modifications will be apparent to those skilled in the art. All such variations and modifications are intended to be within the scope of the present disclosure as defined in any appended claims.