SYSTEM AND METHOD FOR ACCOUNTING FOR COMPLIANCE IN A WORKPIECE DURING AUTONOMOUS PROCESSING

Abstract: one variation of a method includes: accessing a maximum deflection distance of a workpiece; defining a first workpiece region characterized by a first compliance range; defining a second workpiece region characterized by a second compliance range greater than the first compliance range; assigning a nominal target force to the workpiece; navigating a sanding head across the first workpiece region during a processing cycle; driving the sanding head below a virtual unloaded surface of the workpiece stored in the virtual model to maintain forces, of the sanding head on the first workpiece region, approximating the nominal target force; calculating a maximum offset between the positions of the sanding head in the first workpiece region and the virtual unloaded surface; and, in response to the first maximum offset approaching the maximum deflection distance, assigning a lower target force to the second workpiece region of the workpiece.

Inventor(s): Avadhoot Ahire, Cheng Gong, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Vihan Krishnan, Sagar Panchal, Brual C. Shah

CPC Classification: B25J9/1653 ({parameters identification, estimation, stiffness, accuracy, error analysis})

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