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

Claim 16:
17. The method of claim 4, further comprising:
defining a first probe location in the first workpiece region;
calculating a first vector normal to the first probe location in the first workpiece region based on the geometry of the workpiece;
accessing a second sequence of force values from the force sensor while driving the end effector along the first vector toward the first probe location on the workpiece;
recording a first probe position of the sanding head upon contact with the workpiece proximal the first probe location based on an increase in force values in the second sequence of force values;
identifying a first position, in the first sequence of positions, proximal the first probe position;
calculating a correction offset for the first sequence of positions based on a second difference between the first probe position and the first position; and
shifting the first sequence of positions according to the correction offset.