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

Claim 10:
11. The method of claim 4, further comprising:
generating a third toolpath for a second workpiece region of the workpiece based on the geometry of the workpiece;
assigning a second target force to the third toolpath;
during the first processing cycle:
accessing a second sequence of force values output by the force sensor;
via the set of actuators:
navigating the sanding head across the second workpiece region according to the third toolpath; and
based on the second sequence of force values, deviating the sanding head from the third toolpath to maintain forces of the sanding head on the second workpiece region proximal the second target force; and

detecting a second sequence of positions of the sanding head traversing the second workpiece region;

interpreting a second surface contour in the second workpiece region based on the second sequence of positions;
during the second processing cycle, detecting a third sequence of positions of the sanding head traversing the first workpiece region;
interpreting a revised surface contour in the first workpiece region based on the third sequence of positions; and
representing the second surface contour and the revised surface contour in a virtual model of the workpiece.