US 12,393,171 B2
Closed-loop robotic deposition of material
Evan Atherton, San Carlos, CA (US); David Thomasson, Fairfax, CA (US); Maurice Ugo Conti, Muir Beach, CA (US); Heather Kerrick, Oakland, CA (US); and Nicholas Cote, San Francisco, CA (US)
Assigned to AUTODESK, INC., San Francisco, CA (US)
Filed by AUTODESK, INC., San Francisco, CA (US)
Filed on Mar. 22, 2021, as Appl. No. 17/209,065.
Application 17/209,065 is a continuation of application No. 15/495,945, filed on Apr. 24, 2017, granted, now 10,955,814.
Prior Publication US 2021/0208563 A1, Jul. 8, 2021
Int. Cl. G05B 19/29 (2006.01); B23K 9/04 (2006.01); B29C 64/386 (2017.01); B33Y 10/00 (2015.01); B33Y 50/02 (2015.01); G05B 19/4099 (2006.01)
CPC G05B 19/29 (2013.01) [B23K 9/04 (2013.01); B29C 64/386 (2017.08); B33Y 10/00 (2014.12); B33Y 50/02 (2014.12); G05B 19/4099 (2013.01); G05B 2219/40557 (2013.01); G05B 2219/45135 (2013.01); G05B 2219/49007 (2013.01); G05B 2219/49023 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A computer-implemented method for fabricating a three-dimensional (3D) object, the method comprising:
causing a deposition tool to deposit a first weld bead at a first deposition location on the 3D object;
capturing first optical data from the first deposition location while depositing the first weld bead;
identifying a first image of the first weld bead within the first optical data;
determining the first deposition location based on the first image;
determining a second deposition location on the 3D object based, at least in part, on the first deposition location comprising comparing a distance between the first deposition location and a target location to a radius of influence to generate a first ratio, wherein the second deposition location is determined based, at least in part, on the first ratio; and
causing the deposition tool to deposit a second weld bead at the second deposition location on the 3D object.