US 12,390,937 B2
Part modeling for path generation to guide robotic end effector
Ademola Ayodeji Oridate, Austin, TX (US); William Wilder, Austin, TX (US); and Spencer Voiss, Austin, TX (US)
Assigned to WILDER SYSTEMS INC., Austin, TX (US)
Filed by Wilder Systems Inc., Austin, TX (US)
Filed on Jan. 9, 2024, as Appl. No. 18/407,633.
Application 18/407,633 is a continuation of application No. 18/447,295, filed on Aug. 9, 2023, granted, now 11,897,145.
Claims priority of provisional application 63/481,576, filed on Jan. 25, 2023.
Claims priority of provisional application 63/481,563, filed on Jan. 25, 2023.
Claims priority of provisional application 63/377,149, filed on Sep. 26, 2022.
Claims priority of provisional application 63/398,202, filed on Aug. 15, 2022.
Claims priority of provisional application 63/398,203, filed on Aug. 15, 2022.
Claims priority of provisional application 63/396,938, filed on Aug. 10, 2022.
Prior Publication US 2024/0269854 A1, Aug. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/00 (2006.01); B64F 5/40 (2017.01); G06F 16/22 (2019.01); G06F 18/23 (2023.01); G06T 7/70 (2017.01)
CPC B25J 9/1697 (2013.01) [B25J 9/0081 (2013.01); B25J 9/161 (2013.01); B25J 9/163 (2013.01); B25J 9/1661 (2013.01); B25J 9/1664 (2013.01); B25J 9/1666 (2013.01); B25J 9/1671 (2013.01); B25J 9/1679 (2013.01); B25J 13/006 (2013.01); B64F 5/40 (2017.01); G06F 16/22 (2019.01); G06F 18/23 (2023.01); G06T 7/70 (2017.01); G05B 2219/33002 (2013.01); G05B 2219/45066 (2013.01); G06T 2207/20081 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by a computing system, comprising:
generating a path for a representation of a surface of a target object, wherein the path comprises a virtual point, wherein the virtual point is associated with a normal, and wherein the virtual point corresponds to a real-world target;
generating a trajectory over the surface of the target object based on the path, the normal, and a registration a first coordinate system of the target object with a second coordinate system of a robot, wherein the trajectory comprises a set of robot joint parameters used to traverse the surface of the target object, and wherein the trajectory traverses the real-world target;
classifying a target type for the real-world target using a machine learning model based on scanned data of the surface of the target object; and
generating a robot job file, wherein the robot job file comprises the trajectory and an autonomous operation instruction.