Patent ID: 9346164
Filing Date: 2016-05-24
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A method comprising: receiving polishing task information associated with polishing an object, wherein the polishing task information define (i) a nominal trajectory for an end-effector coupled to a manipulator of a robotic device, wherein the nominal trajectory is associated with at least a portion of a contour of the object, and (ii) forces to be exerted by the end-effector at points along the nominal trajectory, wherein the robotic device includes a joint coupled to the manipulator; determining, based on the polishing task information, a modified trajectory that is offset from the nominal trajectory so as to cause the forces to be exerted by the end-effector; determining, based on the modified trajectory and the forces, torques to be applied to the manipulator via the joint of the robotic device over time; and causing the torques to be applied to the manipulator via the joint so as to cause the end-effector to follow the modified trajectory and substantially exert the forces along the modified trajectory to polish the portion of the contour of the object.