Patent ID: 11897136
Assignee: GRAYMATTER ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 20:
21. A method comprising:
accessing a part model representing a set of surface contours of a part loaded into a work zone adjacent a robotic system;
accessing a geometry of a sanding head manipulated by the robotic system, the sanding head comprising a compliant backing:
configured to locate and support a sanding pad;
configured to elastically deform in response to application of the sanding pad onto the part; and
characterized by a backing compliance;

accessing a sanding pad wear model defining sanding pad wear based on a sanding grit of the sanding pad;
retrieving a toolpath pattern;
projecting the toolpath pattern onto the part model to define a toolpath;
defining a set of regions along the toolpath; and
tracking the toolpath traversed by the sanding pad attached to the sanding head; and
based on the sanding pad wear model, assigning a target sanding force proportional to a length of the toolpath.