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

Claim 18:
19. A method comprising:
accessing a part model representing a part arranged in a work zone adjacent a robotic system;
accessing a geometry of a sanding head manipulated by the robotic system, the 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 the part arranged within the work zone; and
characterized by a backing compliance;

accessing a set of tool characteristics of the sanding head mounted to an end effector;
generating a toolpath defining a sequence of positions of the end effector along the part model;
defining a set of target sanding forces, normal to local areas of the part model and defined along the toolpath, based on the set of tool characteristics and the backing compliance;
accessing a signal output by a force sensor coupled to the sanding head and configured to output signals representing force values of the sanding head normal to local areas of the part in contact with the sanding head;
interpreting a force value based on the signal;
deviating the sanding head from the toolpath, normal to a particular surface of the part predicted by a particular local area of the part model, by selectively extending and retracting the sanding head via an actuator to reduce a difference between the force value and a particular target sanding force, in the set of target sanding forces, assigned to the particular local area of the part model; and
triggering the actuator to extend the sanding head toward the particular surface of the part in response to the force value falling below the particular target sanding force.