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

Claim 0:
1. A method comprising:
during a processing cycle:
navigating a sanding head across a first workpiece region of a workpiece according to a first toolpath; and
based on a first sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece region proximal a first target force;

detecting a first sequence of positions of the sanding head traversing the workpiece region;
interpreting a first surface contour of the first workpiece region based on the first sequence of positions;
detecting a first difference between the first surface contour and a first target surface, corresponding to the first workpiece region, defined in a target model of the workpiece;
generating a second toolpath for the first workpiece region based on the difference; and
during a correction cycle:
navigating the sanding head across the first workpiece region according to the second toolpath to reduce the difference.