US 12,134,166 B1
System and method for autonomously grinding a workpiece
Avadhoot L. Ahire, Gardena, CA (US); Bharat S. Deshkulkarni, Los Angeles, CA (US); Satyandra K. Gupta, Los Angeles, CA (US); Nathan Ince, Torrance, CA (US); Ariyan M. Kabir, Los Angeles, CA (US); Ashish Kulkarni, Long Beach, CA (US); Sagarkumar J. Panchal, Los Angeles, CA (US); Martin G. Philo, Long Beach, CA (US); Brual C. Shah, San Pedro, CA (US); and Jeano J. Vincent, Los Angeles, CA (US)
Assigned to GrayMatter Robotics Inc., Gardena, CA (US)
Filed by GrayMatter Robotics Inc., Gardena, CA (US)
Filed on May 30, 2024, as Appl. No. 18/679,276.
Int. Cl. B24B 51/00 (2006.01); B24B 49/04 (2006.01); B24B 49/12 (2006.01); B24B 49/14 (2006.01); B24B 49/16 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); G06T 1/00 (2006.01); G06T 7/60 (2017.01); G06T 19/20 (2011.01)
CPC B24B 51/00 (2013.01) [B24B 49/04 (2013.01); B24B 49/12 (2013.01); B24B 49/14 (2013.01); B24B 49/16 (2013.01); B25J 9/1664 (2013.01); B25J 11/0065 (2013.01); G06T 1/0007 (2013.01); G06T 1/0014 (2013.01); G06T 7/60 (2013.01); G06T 19/20 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for autonomously grinding a workpiece comprising:
accessing a set of images captured by an optical sensor arranged on an end effector traversing a scan path over a workpiece during a scan cycle;
compiling the set of images into a virtual model of the workpiece;
identifying a first grinding region on the workpiece;
projecting a target grinding profile onto the first grinding region on the workpiece represented in the virtual model, the target grinding profile defining final contour characteristics of the first grinding region;
based on a geometry of the workpiece and the target grinding profile, generating a first tool path for removal of material from the first grinding region toward the target grinding profile;
assigning a first target force to the first grinding region; and
during a first processing cycle:
accessing a first sequence of force values output by a force sensor coupled to a grinding head arranged on the end effector; and
via a set of actuators coupled to the end effector:
navigating the grinding head across the first grinding region according to the first tool path; and
based on the first sequence of force values, deviating the grinding head from the first tool path to maintain forces of the grinding head on the first grinding region proximal the first target force.