A program creation apparatus acquires a work sequence executed by a robot, and creates a motion program based on the work sequence and a work information file in which information on work contained in the work sequence is recorded. Further, the work sequence is corrected from the work information file, and a new motion program based on a corrected new work sequence is created.

Processe and system for preparing a vehicle surface (e.g., an aircraft fuselage) for painting include a preparation booth (100) which is sized and configured to house the vehicle (F). At least one robotic assembly (200a, 200b) is reciprocally movable within the preparation booth (100) relative to a longitudinal axis of the vehicle (F), and is provided with a robotic hand (230) having at least one abrasive disc (242a) attached to an attachment pad (242) of the robotic hand (230), and at least one nozzle (252a, 252b, 252c) for discharging a stream of rinse fluid. Operation of the at least one robotic assembly (230) will cause the at least one abrasive disc (242a) of the robot hand (230) to abrade the surface of the vehicle (F). The robotic hand (230) may thereafter be maneuvered so that the at least one nozzle (252a, 252b, 252c) is directed toward the abraded vehicle surface (F). A stream of rinse fluid may then be discharged through the at least one nozzle (252a, 252b, 252c) and towards the abraded surface of the vehicle (F) so as to rinse the abraded surface of particulate matter.

A control device includes: first circuitry that generates a command to cause a robot to autonomously grind a grinding target portion; second circuitry that generates a command to cause the robot to grind a grinding target portion according to manipulation information from an operation device; third circuitry that controls operation of the robot according to the command; storage that stores image data of a grinding target portion and operation data of the robot corresponding to the command; and forth circuitry that performs machine learning by using image data of a grinding target portion and the operation data for the grinding target portion, receives the image data as input data, and outputs an operation correspondence command corresponding to the operation data as output data. The first circuitry generates the command, based on the operation correspondence command.

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.

An end effector for a robotic sanding system includes a sanding head including a sander configured to sand a surface of a workpiece. A motor is operatively coupled to the sander. The motor is configured to rotate the sander to sand the surface of the workpiece. The motor includes a first central longitudinal axis. A coupler is configured to removably secure the end effector to an attachment interface of an arm of the robotic sanding system. The coupler includes a second central longitudinal axis. The first central longitudinal axis is offset from the second central longitudinal axis. One or more sensors are coupled to the sanding head. The one or more sensors are configured to detect presence of a metal within the predefined range.

An apparatus for verifying the presence, or the absence, of an abrasive element in a machine for finishing surfaces comprising a support body configured to removably engage the abrasive element. The support body and the abrasive element are, respectively, provided, at respective engagement surfaces with first and second engagement elements configured to move from an engagement configuration to a disengagement configuration, and vice versa. Furthermore, a displacement device is provided to move the support body in the space according to at least 1 degree of freedom. The apparatus, furthermore, provides at least a control station equipped with a control device comprising a control element having a control surface provided with third engagement elements configured to engage with the first engagement elements of the support body, and a detection device configured to detect if an engagement between the control element and the support body has taken place.

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.

A method for robotic machining is disclosed. The method includes determining a first designed machining path based on a modelled surface for a target surface to be machined. The method also includes causing a robot to machine the target surface based on the first designed machining path in an adaptive manner to obtain an actual machining path, wherein where the modelled surface is different from the target surface, the robot is caused to follow the target surface. The method further includes determining a second designed machining path for the target surface based on the actual machining path and the first designed machining path.

An apparatus for automated polishing of an object with multiple facets includes a polishing wheel, a robotic arm, a sensor and a controller. The robotic arm positions the object in contact with the polishing wheel. The sensor senses a polishing related parameter during polishing of the object with the polishing wheel. The controller operates the robotic arm to rotate the object about an axis perpendicular to the polishing wheel, receives a sensing signal from said sensor at different orientations of said object during polishing and selects a polishing orientation from the different orientations based on said sensing signal.

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.