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

Claim 0:
1. A system configured to form a sheet in an initial geometry into a desired geometry different than the initial geometry, the system comprising:
a robot arm with an end effector;
a model configured to:
receive an input geometry of the sheet;
receive an input parameter value indicating a first interaction between the sheet and the end effector, the first 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; and

a controller coupled to the robot arm and the model, the controller configured to:
(i) receive the initial geometry of the sheet and the desired geometry of the sheet;
(ii) apply the model to the initial geometry and to different input parameter values;
(iii) determine, based on output geometries of the model, a set of one or more parameter values for controlling the robot arm; and
(iv) control 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.