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

Claim 9:
10. The method of claim 4:
wherein defining the first toolpath comprises:
defining the first toolpath comprising a first ordered sequence of keypoints located on the virtual model; and
for each keypoint in the first ordered sequence of keypoints:
calculating a vector normal to the virtual model at a location of the keypoint on the virtual model; and
storing the vector in the keypoint; and

wherein navigating the sanding head across the first workpiece region according to the first toolpath and deviating the sanding head from the first toolpath comprise:
for a first keypoint in the first ordered sequence of keypoints, via the set of actuators:
locating the sanding head at a first position intersecting the first keypoint;
aligning an axis of the sanding head to a first vector contained in the first keypoint; and
driving the sanding head, coaxial with the first vector, toward the workpiece to match force values, in the first sequence of force values read from the force sensor, to the first target force.