Patent ID: 11865716
Assignee: MACHINA LABS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 18:
19. A method of controlling a robot arm with an end effector to form a sheet in an initial geometry into a desired geometry different than the initial geometry, the method comprising:
receiving the initial geometry of the sheet and the desired geometry of the sheet;
applying a model to the initial geometry and to input parameter values, the model configured to:
receive an input geometry of the sheet;
receive an input parameter value indicating an interaction between the sheet and the end effector, the interaction including the end effector performing at least one of: bending, pinching, seaming, or stretching a portion of the sheet by being pressed into the portion of the sheet; and
determine an output geometry of the sheet based on the input geometry and the input parameter value;

based on output geometries of the model, determining a set of one or more parameter values for controlling the robot arm; and
controlling the robot arm according to the determined set of one or more parameter values to form the sheet into the desired geometry using the end effector.