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公开(公告)号：US20220032461A1
公开(公告)日：2022-02-03
申请号：US17390885
申请日：2021-07-31
摘要： A method of generating robot trajectories for a robot device includes generating surface parameters and/or measurements for the surface of the object; receiving one or more parameters to maximize or minimize robot objectives; receiving one or more motion parameters for the robot to perform the task on the surface of the object and/or receiving one or more workspace parameters; receiving a plurality of constraint parameters; and generating an initial parametric representation of a trajectory for the robot in performing the task. The method further includes generating an initial trajectory based on the initial parametric representation of the trajectory, one or more workspace parameters, the one or more motion parameters, and/or the one or more parameters to maximize or minimize robot objectives; selecting a first set of constraint parameters; and performing trajectory generation by applying the selected first set of constraint parameters to create one or more first robot trajectories.
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公开(公告)号：US20220388115A1
公开(公告)日：2022-12-08
申请号：US17826840
申请日：2022-05-27
摘要： One variation of a method S100 for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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公开(公告)号：US20220288774A1
公开(公告)日：2022-09-15
申请号：US17826867
申请日：2022-05-27
发明人： Cheng Gong , Rishav Guha , Satyandra K. Gupta , Marshall J. Jacobs , Ariyan M. Kabir , Ceasar G. Navarro , Brual C. Shah
摘要： One variation of a method s100 for autonomously scanning and processing a part includes: accessing a part model representing a part positioned in a work zone adjacent a robotic system; retrieving a sanding head translation speed; retrieving a toolpath for execution on the part defining positions, orientations, and target forces applied by the sanding head to the part. The method includes traversing the sanding head along the toolpath, at the sanding head translation speed; reading a sequence of applied forces from a force sensor coupled to the sanding head at positions along the toolpath; and deviating from the toolpath to maintain the set of applied forces within a threshold difference of a sequence of target forces along the toolpath. In one variation of the method, the robotic system executes a toolpath at a duration less than target duration by selectively varying target force and sanding head translation speed across the part.
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公开(公告)号：US11613014B2
公开(公告)日：2023-03-28
申请号：US17829193
申请日：2022-05-31
摘要： One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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公开(公告)号：US20220371190A1
公开(公告)日：2022-11-24
申请号：US17829205
申请日：2022-05-31
发明人： Cheng Gong , Rishav Guha , Satyandra K. Gupta , Marshall J. Jacobs , Ariyan M. Kabir , Ceasar G. Navarro , Brual C. Shah
摘要： One variation of a method for autonomously scanning and processing a part includes: accessing a part model representing a part positioned in a work zone adjacent a robotic system; retrieving a sanding head translation speed; retrieving a toolpath for execution on the part defining positions, orientations, and target forces applied by the sanding head to the part. The method includes traversing the sanding head along the toolpath, at the sanding head translation speed; reading a sequence of applied forces from a force sensor coupled to the sanding head at positions along the toolpath; and deviating from the toolpath to maintain the set of applied forces within a threshold difference of a sequence of target forces along the toolpath. In one variation of the method, the robotic system executes a toolpath at a duration less than target duration by selectively varying target force and sanding head translation speed across the part.
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公开(公告)号：US20230126085A1
公开(公告)日：2023-04-27
申请号：US18087725
申请日：2022-12-22
发明人： Cheng Gong , Rishav Guha , Satyandra K. Gupta , Marshall J. Jacobs , Ariyan M. Kabir , Ceasar G. Navarro , Brual C. Shah
摘要： One variation of a method for autonomously scanning and processing a part includes: accessing a part model representing a part positioned in a work zone adjacent a robotic system; retrieving a sanding head translation speed; retrieving a toolpath for execution on the part defining positions, orientations, and target forces applied by the sanding head to the part. The method includes traversing the sanding head along the toolpath, at the sanding head translation speed; reading a sequence of applied forces from a force sensor coupled to the sanding head at positions along the toolpath; and deviating from the toolpath to maintain the set of applied forces within a threshold difference of a sequence of target forces along the toolpath. In one variation of the method, the robotic system executes a toolpath at a duration less than target duration by selectively varying target force and sanding head translation speed across the part.
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公开(公告)号：US11584005B2
公开(公告)日：2023-02-21
申请号：US17829205
申请日：2022-05-31
发明人： Cheng Gong , Rishav Guha , Satyandra K. Gupta , Marshall J. Jacobs , Ariyan M. Kabir , Ceasar G. Navarro , Brual C. Shah
摘要： One variation of a method for autonomously scanning and processing a part includes: accessing a part model representing a part positioned in a work zone adjacent a robotic system; retrieving a sanding head translation speed; retrieving a toolpath for execution on the part defining positions, orientations, and target forces applied by the sanding head to the part. The method includes traversing the sanding head along the toolpath, at the sanding head translation speed; reading a sequence of applied forces from a force sensor coupled to the sanding head at positions along the toolpath; and deviating from the toolpath to maintain the set of applied forces within a threshold difference of a sequence of target forces along the toolpath. In one variation of the method, the robotic system executes a toolpath at a duration less than target duration by selectively varying target force and sanding head translation speed across the part.
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公开(公告)号：US20220347843A1
公开(公告)日：2022-11-03
申请号：US17829193
申请日：2022-05-31
摘要： One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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