Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.

A parameter indicating a surface property of an object surface is plotted on the horizontal axis, a normal direction change rate of the shape of the object surface is plotted on the vertical axis, the minimum normal direction change rate visible to a person is associated with the parameter indicating the surface property of the object surface to create a visible area map, the relationship between the parameter indicating the surface property of a machining surface of a workpiece, and the maximum value of the normal direction change rate of the shape of the machining surface of the workpiece is displayed on the visible area map, and the object surface is evaluated.

Disclosed are an external, numerically controlled, rapid reconfigurable surface mold and forming method thereof In this mold, an external shape-adjusting component is composed of a height-regulating rod, a motor, and a sliding guide rail module. The height-regulating rod is connected to the sliding guide rail module, and the motor is coaxially connected to the height-regulating rod. In addition, the molding module consists of a plurality of basic body units with the same structure, the lower end of the basic body unit is installed in the mold box, the upper end of the basic body unit is matched with the lower end of the height-regulating rod, and the height of the basic body unit is adjustable. Subsequently, in the forming method, driven by the motor and under the action of the force of the lower end of the height-regulating rod, the height-regulating rod moves above the basic body units.

The disclosed technology relates to an intelligent motion control system that utilizes onboard sensors and processing to guide a surface manipulation machine along a path of travel on a surface, confirm a position of the machine with respect to the surface, and actuate a surface manipulation tool to achieve a desired surface profile or locate a point of interest. The system may include a first and second surface profiler that is configured to scan a surface on which the system travels and a positional sensor configured to generate positional data representing a position of the machine. The processor is configured to generate topography data based on output received from the first surface profiler, generate intermediate data based on output received from the second profiler, compare the intermediate data with the topography data to calculate an offset; and control motion of the system based on the offset.

Systems and methods for detecting defects on a specimen based on structural information are provided. One system includes one or more computer subsystems configured for separating the output generated by a detector of an inspection subsystem in an array area on a specimen into at least first and second segments of the output based on characteristic(s) of structure(s) in the array area such that the output in different segments has been generated in different locations in the array area in which the structure(s) having different values of the characteristic(s) are formed. The computer subsystem(s) are also configured for detecting defects on the specimen by applying one or more defect detection methods to the output based on whether the output is in the first segment or the second segment.

An automated technique for finishing gas turbine engine blades or vanes by generating a bespoke tooling path for each blade or vane. The bespoke tooling path is generated by scanning the aerofoil surface to generate a 3-D electronic representation of the surface. The 3-D electronic surface is then analyzed to identify imperfections or defects, and then a machining path a generated through which the imperfections can be removed. The machining path is determined so as to smoothly blend the surface back to the underlying surface where the imperfections had been present. In this way, the resulting aerofoil, once machined, has optimized aerodynamic performance.

The disclosed technology relates to an intelligent motion control system that utilizes onboard sensors and processing to guide a surface manipulation machine along a path of travel on a surface, confirm a position of the machine with respect to the surface, and actuate a surface manipulation tool to achieve a desired surface profile or locate a point of interest. The system may include a first and second surface profiler that is configured to scan a surface on which the system travels and a positional sensor configured to generate positional data representing a position of the machine. The processor is configured to generate topography data based on output received from the first surface profiler, generate intermediate data based on output received from the second profiler, compare the intermediate data with the topography data to calculate an offset; and control motion of the system based on the offset.

A method of manufacturing a panel assembly includes supporting the panel assembly in a free state using a holding fixture. The panel assembly has a skin panel, and sacrificial material coupled to a skin panel inner surface. The method includes acquiring a free state outer surface contour of the panel assembly by scanning a skin panel outer surface while the panel assembly is supported by the holding fixture. The method also includes developing a numerically controlled (NC) machining program having cutter paths configured for machining the interface locations to an inner surface contour that reflects nominal thicknesses of the panel assembly based off of the free state outer surface contour. In addition, the method includes machining the sacrificial material at the interface locations by moving a cutter along the cutter paths while the panel assembly is supported by the holding fixture.

A component having a first part and a second part. The first part has a first interface surface and the second part has a second interface surface that is connected to the first interface surface via a bond. A digital profile of the first interface surface is used to shape the second interface surface to fit against the first interface surface with minimal to no gap therebetween before forming the bond. The digital profile is developed by scanning the first part with a scanner and the second part is shape by cutting or milling with a robotic arm that acts in accordance with a digital profile data read by a controller. The two parts are bonded via a weld that is automatically guided by the digital profile.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.