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

Claim 0:
1. A system comprising:
a robotic system:
arranged adjacent to a work zone;
comprising an end effector defining:
an optical sensor;
a 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 a part arranged within the work zone; and
characterized by a compliance coefficient;

comprising a force sensor:
coupled to the sanding head; and
configured to output a signal representing a force value, applied by the sanding head to the part, normal to local areas of the part in contact with the sanding head; and

a controller configured to:
access a part model representing the part;
access a set of tool characteristics of the sanding head mounted to the robotic system;
generate the toolpath defining a sequence of positions of the end effector along the part model; and
based on the set of tool characteristics, define a set of target sanding forces normal to local areas of the part model and located along the toolpath, the set of target sanding forces proportional to the compliance coefficient;

wherein the robotic system is configured to:
move the end effector along the toolpath; and
apply the sanding head to the part according to the set of target sanding forces and signals output by the force sensor.