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

Claim 19:
20. The method of claim 4:
wherein navigating the sanding head across the first workpiece region comprises navigating the sanding head across the first workpiece region via the set of actuators comprising:
a robotic arm supporting the end effector and the sanding head, the sanding head comprising an orbital sander;

wherein accessing the first sequence of force values comprises accessing the first sequence of force values output by the force sensor arranged between the end effector and the sanding head; and
wherein detecting the first sequence of positions comprises:
accessing a first series of one-dimensional distances from a first optical detector, located at a first fixed position facing the robotic arm, to an optical fiducial located on the sanding head;
accessing a second series of one-dimensional distances from a second optical detector, located at a second fixed position facing the robotic arm, to the optical fiducial located on the sanding head; and
deriving the first sequence of positions comprising three-dimensional locations and orientations of the sanding head based on:
the first series of one-dimensional distances;
the second series of one-dimensional distances;
the first fixed position; and
the second fixed position.