# Impact of a Robot Manipulation on the Dimensional Measurements in an SPC-Based Robot Cell
## 3 Materials and Methods
### Measurement Scenarios
For example, in scenario 3, insertion contains linear translation along the z-axis for 20 mm, rotation around the z-axis by 15 degrees in scenario 4, and a combination of both movements in scenario 5. The other four operations are scenario-independent. It is important to highlight that before every measurement session that includes several subsequent measurements, the re-master procedure with a master object is performed in comparative measurements. After the re-master procedure, 25 repetitions of the selected scenario were performed. One set of measurements consists of three repetitions of nine scenarios for both characteristics for the Magnet object and characteristic 100 for the PKR object. For the remaining characteristics of the PKR object (10, 130, and 140), one set consists of two repetitions. Additionally, each scenario consists of 25 measurements, for a total of 2700 dimensional measurements. For each repetition of the scenario, an MSA type-1 analysis was performed. Please note that the differences among the sets are in the measurement strategy of the Equator. Set 1 represents a basic measurement strategy with the touch-triggering method (TTM). In set 2, the TTM was replaced with the scanning method (SM), and the number of sampling points was increased from 8 to 25 for defining the planes in the length measurements and from 12 to 25 for the spherical geometries. In set 3, the number of sampling points was additionally increased to separate 200 and 400 for the length and spherical geometries (SM+). For the PKR object, only one set of measurements (a combination of TTM and SM) was performed prior measurement strategy and had no significant influence in the case of the measurements of the Magnet object. The last column of Table 1 indicates the measurement method used for an individual object in a particular scenario, TTM, SM, and SM+ for the Magnet object, and TTM + SM (combination of TTM and SM) for the PKR object. \begin{table}
\begin{tabular}{l c c c c} \hline \hline
**Robot Operations** & **Motion Type** & **In Scenario** & \(a\) & \(v\) \\ \hline Approach to the object in the Equator (open gripper) & linear & 2, 6–9 & 0.5 m/s\({}^{2}\) & 0.5 m/s \\ Retract from the object in the Equator (open gripper) & linear & 2, 6–9 & 0.5 m/s\({}^{2}\) & 0.5 m/s \\ Object insertion & linear & 3–9 & 0.5 m/s\({}^{2}\) & 0.5 m/s \\ Object removal & linear & 3–9 & 0.5 m/s\({}^{2}\) & 0.5 m/s \\ Re-gripping phase (V to H and H to V) & joint & 8–9 & 2.5 rad/s\({}^{2}\) & 1.5 rad/s \\ Re-gripping position to outside of the Equator workspace (and in reverse direction) & joint & 8–9 & 5.0 rad/s\({}^{2}\) & 3.0 rad/s \\ Pick and place from/to the pallet & linear & 9 & 0.5 m/s\({}^{2}\) & 0.5 m/s \\ Pallet to the re-gripping position (and in reverse direction) & joint & 9 & 5.0 m/s\({}^{2}\) & 3.0 m/s \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Short description of compound robot manipulation operations from basic functions in measurement scenarios (motion type, desired velocities \(v\), acceletaions \(a\), and involvement in scenarios).