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

Claim 3:
4. A method comprising:
accessing a target model representing target dimensions of target surfaces of a workpiece;
generating a first toolpath for a first workpiece region of the workpiece based on a geometry of the workpiece;
assigning a first target force to the first toolpath;
during a first processing cycle:
accessing a first sequence of force values output by a force sensor coupled to a sanding head arranged on an end effector;
via a set of actuators coupled to the end effector:
navigating the sanding head across the first workpiece region according to the first toolpath; and
based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the first workpiece region proximal the first target force; and

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

interpreting a first surface contour in 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 surface contour, defined in the target model;
generating a second toolpath for the first workpiece region based on the first difference; and
during a second processing cycle:
via the set of actuators:
navigating the sanding head across the first workpiece region according to the second toolpath.