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

Claim 8:
9. A method comprising:
accessing a part model representing a set of surface contours of a part loaded into 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;

retrieving a toolpath pattern;
projecting the toolpath pattern onto the part model to define a toolpath;
defining a set of regions along the toolpath; and
for each region, in the set of regions, of the toolpath:
detecting a local curvature radius of a surface contour, in the set of surface contours, represented in the part model proximal the region of the toolpath;
based on the local curvature radius, calculating a contact area between the sanding head and the part, the contact area proximal the region; and
based on the contact area, defining a target sanding force, in a set of target sanding forces, of the sanding head, the target sanding force normal to the region and proportional to the backing compliance.