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.

A flange device using a voice coil motor and a contact control method thereof are disclosed. In the flange device, a force sensor, displacement sensor and an inertial measurement unit (IMU) are used to sense contact data, the contact data is filtered, and the filer contact data is calculated based on an attitude & heading reference systems (AHRS) algorithm, to obtain a force control command to control a displacement direction and a displacement distance of the flange device, so that the flange device is able to adjust a contact status between a polishing device and a to-be-polished object by using the voice coil motor, thereby achieving the technical effect of providing an electromagnetic contact-state adjustment device with quiet and precise control and fast response.

A wind power blade multi-robot cooperative grinding and roller coating operation assembly line system is provided and includes: a working platform; a blade tip transfer and tooling turning system and a blade root transfer and tooling turning system arranged on a middle of the working platform and configured to support and adjust a head and a tail of the wind power blade respectively; wind power blade automatic grinding robots and wind power blade automatic roller coating robots symmetrically arranged on the working platform and located on two sides of the wind power blade. An automatic processing of grinding and roller coating of wind power blades is realized, which can reduce labor intensity. An integration of omnidirectional transfer and weight of the wind power blades is realized, which can detect the weight in real-time. A blade sprain is avoided effectively, and a layout of an assembly line is more flexible.

A method includes: compiling images, captured by an end effector traversing a scan path over a workpiece, into a virtual model of the workpiece; generating a toolpath based on a geometry of the workpiece represented in the virtual model; and assigning a target force to the workpiece. The method also includes, during a processing cycle: navigating a sanding head, arranged on the end effector, across the workpiece according to the toolpath; based on force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece proximal the target force; and tracking a sequence of positions of a reference point on the sanding head, traversing the workpiece, in contact with the workpiece. The method also includes transforming the virtual model into alignment with the sequence of positions of the reference point.

A method includes: accessing a toolpath and processing parameters—including a target force and feed rate—assigned to a region of a workpiece; and accessing a wear model representing abrasive degradation of a sanding pad arranged on a sanding head. The method also includes, during a processing cycle: accessing force values output by a force sensor coupled to the sanding head; navigating the sanding head across the workpiece region according to the toolpath and, based on the force values deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal the target force; accessing contact characteristics representing contact between the sanding pad and the workpiece; estimating abrasive degradation of the sanding pad based on the wear model and the sequence of contact characteristics; and modifying the set of processing parameters based on the abrasive degradation.

A machine learning apparatus that can determine the state of a tool from a force applied from the tool to a robot while the robot performs a work using the tool. A machine learning apparatus for learning a state of a tool used for a work by a robot includes a learning data acquisition section that acquires, as a learning data set, data of a force applied from the tool to the robot while the robot causes the tool to perform a predetermined operation, and data indicating the state of the tool during the predetermined operation, and a learning section that generates a learning model representing a correlation between the force and the state of the tool, using the learning data set.

A method includes, during a processing cycle: navigating the sanding head across a region of a workpiece according to a toolpath; and, based on a sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal a target force. The method also includes: detecting a sequence of positions of the sanding head traversing the workpiece region; interpreting a surface contour in the workpiece region based on the sequence of positions; detecting a difference between the surface contour and a corresponding target surface defined in a target model of the workpiece; generating a second toolpath for the workpiece region based on the difference; and, during a second processing cycle, navigating the sanding head across the workpiece region according to the second toolpath to reduce the difference.

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.

A method for coordinating an identification of a defect in the surface coating of a workpiece and processing same via grinding and/or polishing using at least one grinding or polishing tool that is moveable over the defect in an automatic and computer-controlled manner based a stored program is provided. The surface coating of the workpiece is automatically optically scanned and the scanned position data is detected in a database. The defect is identified by comparing the detected position data with stored target data of the workpiece. Possible movements of the grinding or polishing tool are simulated to process the defect. The setting data for the grinding or polishing tool determined in the simulation is forwarded to a master computer. The determined processing data for processing the defect is transferred to the grinding or polishing tool. The defect is processed using the grinding or polishing tool.

A process for automated sanding of a vehicle component surface is provided and includes providing a sanding mechanism having a sanding head engaged with a housing, a rotary motor contained within the housing, the rotary motor having a drive shaft rotatable about an axis and extending outwardly therefrom, a radial plate attached to a first end of the drive shaft, and a sanding disk having an abrasive surface releasably attached to the radial plate; attaching the sanding head to a gimbal having a pressure sensor; powering the rotary motor driving rotation of the drive shaft, the radial plate and the sanding disk in at least one of a clockwise or counterclockwise direction; movably applying the sanding disk to the surface at a maintained constant pressure; and achieving a desired finish on the surface prepared to be primed and painted to a class A auto high sheen surface finish.