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

Claim 19:
20. A non-transitory computer-readable storage medium comprising stored instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
receiving an initial geometry of a sheet and a 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 an end effector coupled to a robot arm, 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.