Patent ID: 11883961
Assignee: GRAYMATTER ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. A method comprising:
accessing a target model representing target dimensions of surfaces of a workpiece;
defining a set of probe locations on the workpiece;
via a set of actuators, navigating an end effector to locate a reference point in contact with the set of probe locations on the workpiece;
detecting a first sequence of positions of the reference point in contact with the workpiece at the set of probe locations;
interpreting a first surface contour of the workpiece within a first workpiece region of the workpiece based on the first sequence of positions;
detecting a first difference between the first surface contour and a first target surface, corresponding to the first surface contour, defined in the target model;
in response to the first difference exceeding a threshold difference:
generating a first toolpath spanning the first workpiece region; and
during a correction cycle:
via the set of actuators:
navigating a sanding head, arranged on the end effector, across the first workpiece region according to the first toolpath to reduce the first difference by removing material from the first workpiece region;

generating a second toolpath spanning the first workpiece region and a second workpiece region;
assigning a target force to the second toolpath; and
during a processing cycle:
accessing a sequence of force values output by a force sensor coupled to the sanding head; and
via the set of actuators;
navigating the sanding head across the first workpiece region and the second workpiece region according to the second toolpath; and
based on the sequence of force values, deviating the sanding head from the second toolpath to maintain forces of the sanding head on the workpiece proximal the first target force and to finish the first workpiece region and the second workpiece region to a target surface finish.