US 11,883,961 B2
Method for autonomously dimensional accuracy of a workpiece via three-dimensional sanding
Avadhoot L. Ahire, Gardena, CA (US); Yi-Wei Chen, Gardena, CA (US); Satyandra K Gupta, Gardena, CA (US); Ariyan M. Kabir, Gardena, CA (US); Ashish Kulkarni, Gardena, CA (US); Ceasar G. Navarro, Jr., Gardena, CA (US); Martin G. Philo, Gardena, CA (US); and Brual C. Shah, Gardena, CA (US)
Assigned to GrayMatter Robotics Inc., Gardena, CA (US)
Filed by GrayMatter Robotics Inc., Gardena, CA (US)
Filed on Aug. 9, 2023, as Appl. No. 18/232,275.
Application 18/232,275 is a continuation in part of application No. 18/142,480, filed on May 2, 2023.
Application 18/142,480 is a continuation in part of application No. 18/136,244, filed on Apr. 18, 2023.
Application 18/136,244 is a continuation in part of application No. 18/111,470, filed on Feb. 17, 2023.
Application 18/111,470 is a continuation in part of application No. 17/829,193, filed on May 31, 2022, granted, now 11,613,014, issued on Mar. 28, 2023.
Application 18/136,244 is a continuation in part of application No. 17/829,193, filed on May 31, 2022.
Application 18/142,480 is a continuation in part of application No. 17/829,193, filed on May 31, 2022.
Application 17/829,193 is a continuation of application No. 17/826,840, filed on May 27, 2022.
Prior Publication US 2023/0381961 A1, Nov. 30, 2023
Int. Cl. B24B 51/00 (2006.01); B25J 11/00 (2006.01); B25J 9/16 (2006.01); G06T 1/00 (2006.01); B25J 13/08 (2006.01); G06T 7/13 (2017.01); G06T 7/60 (2017.01); G06T 19/00 (2011.01)
CPC B25J 9/1653 (2013.01) [B24B 51/00 (2013.01); B25J 9/163 (2013.01); B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/0065 (2013.01); B25J 13/085 (2013.01); G06T 1/0014 (2013.01); G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 19/00 (2013.01); G06T 2207/10024 (2013.01); G06T 2219/004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
during a processing cycle:
navigating a sanding head across a first workpiece region of a workpiece according to a first toolpath; and
based on a first sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece region proximal a first target force;
detecting a first sequence of positions of the sanding head traversing the workpiece region;
interpreting a first surface contour of 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 workpiece region, defined in a target model of the workpiece;
generating a second toolpath for the first workpiece region based on the difference; and
during a correction cycle:
navigating the sanding head across the first workpiece region according to the second toolpath to reduce the difference.