US 12,257,713 B2
Methods for generating a digital twin of a workpiece in finishing processes
Avadhoot Ahire, Gardena, CA (US); Cheng Gong, Gardena, CA (US); Rishav Guha, Gardena, CA (US); Satyandra K. Gupta, Gardena, CA (US); Ariyan M. Kabir, Gardena, CA (US); Michael Marsh, Jr., 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 Oct. 11, 2023, as Appl. No. 18/379,121.
Application 18/379,121 is a continuation of application No. 18/136,244, filed on Apr. 18, 2023, granted, now 11,820,018.
Application 18/136,244 is a continuation in part of application No. 18/111,470, filed on Feb. 17, 2023, granted, now 12,049,009.
Application 18/111,470 is a continuation of application No. 17/829,193, filed on May 31, 2022, granted, now 11,613,014, issued on Mar. 28, 2023.
Application 17/829,193 is a continuation of application No. 17/826,840, filed on May 27, 2022.
Application 17/826,840 is a continuation in part of application No. 17/390,885, filed on Jul. 31, 2021, abandoned.
Claims priority of provisional application 63/059,932, filed on Jul. 31, 2020.
Prior Publication US 2024/0033913 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B24B 51/00 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); G06T 1/00 (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)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
accessing a virtual model representing a geometry of a workpiece;
accessing a first toolpath defined for a first workpiece region of the workpiece;
accessing a first target force assigned to the first workpiece region;
during a processing cycle:
accessing a first sequence of force values output by a force sensor coupled to a sanding head;
via a set of actuators:
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 in contact with the first workpiece region;
transforming the virtual model into alignment with the first sequence of positions; and
storing the virtual model, transformed according to the first sequence of positions, as a digital record of the workpiece.