Methods of performing a plurality of operations within a region of a part utilizing an end effector of a robot and robots that perform the methods are disclosed herein. The methods include collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part. The methods also include defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector. The methods further include moving the end effector relative to the part and along the predetermined raster scan pattern. The methods also include orienting the end effector such that an operation device of the end effector faces toward each operation location along a corresponding normality vector and executing a corresponding operation of the plurality of operations with the operation device.

Methods of performing a plurality of operations within a region of a part utilizing an end effector of a robot and robots that perform the methods are disclosed herein. The methods include collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part. The methods also include defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector. The methods further include moving the end effector relative to the part and along the predetermined raster scan pattern. The methods also include orienting the end effector such that an operation device of the end effector faces toward each operation location along a corresponding normality vector and executing a corresponding operation of the plurality of operations with the operation device.

Systems, methods, and apparatus are disclosed for machining a part. Methods include generating a first spatial representation identifying a first orientation of a machining tool, and mechanically coupling an end effector to the part at a first position, the end effector including the machining tool and a coupling tool. Methods include generating a second spatial representation identifying a second orientation of the machining tool relative to the part, the first and second spatial representations being generated based on images captured by at least one imaging device and measurements from a plurality of sensors. Methods include identifying a plurality of differences that result from the coupling and that include a rotational distance and translational distance, the identifying being based on a comparison of a first image and a second image. Methods include adjusting the machining tool to return the machining tool to the first orientation at the first position.

Systems, methods, and apparatus are disclosed for machining a part. Methods include generating a first spatial representation identifying a first orientation of a machining tool, and mechanically coupling an end effector to the part at a first position, the end effector including the machining tool and a coupling tool. Methods include generating a second spatial representation identifying a second orientation of the machining tool relative to the part, the first and second spatial representations being generated based on images captured by at least one imaging device and measurements from a plurality of sensors. Methods include identifying a plurality of differences that result from the coupling and that include a rotational distance and translational distance, the identifying being based on a comparison of a first image and a second image. Methods include adjusting the machining tool to return the machining tool to the first orientation at the first position.

Systems, methods, and apparatus are disclosed for machining a part. The methods may include generating a plurality of spatial representations associated with a plurality of positions identified by a machining pattern associated with the part. The plurality of spatial representations may include a first spatial representation identifying a first orientation of a machining tool relative to the part at a first position. The methods may include moving an end effector to the first position. The methods may include mechanically coupling, using a coupling tool, the end effector to the part at the first position. The methods may include generating a second spatial representation identifying a second orientation of the machining tool relative to the part at the first position. The methods may include adjusting the machining tool in response to determining that the second spatial representation is different than the first spatial representation.

A method and a device for orienting an effector relative to a surface by means of a device comprising an articulated arm, at least one tool which is designed to carry out an assembly step, at least three sensors and a controller. The method comprises the steps of determining by the controller the position of the sensors on the effector and rotating the articulated arm according to at least one dimension, so as to orient the tool carried by the effector according to an angle which is predetermined relative to the normal to the surface.