Robotic feature mapping and motion control

A non-transitory computer-readable medium storing computer instructions, that when executed by one or more processors, cause the one or more processors to perform operations, the operations comprising:

• creating a projection matrix based on a three-dimensional (3D) model of a part and sensor data associated with a workpiece in a workspace of a robotic manipulator, the projection matrix providing a mapping between sensor coordinates associated with the sensor data and 3D coordinates associated with the 3D model;
• identifying a set of sensor coordinates from the sensor data corresponding to a feature indication associated with the workpiece;
• determining from the set of sensor coordinates a set of 3D coordinates using the projection matrix;
• and
• generating one or more control actions for the at least one robotic manipulator based on the set of 3D coordinates.

A system, comprising:

• a robotic manipulator configured to support a tool for accessing a workpiece;
• at least one image capture device configured to generate two-dimensional images of the workpiece;
• and
• one or more processors configured to:
• create a plurality of point clusters from a plurality of three-dimensional (3D) coordinates associated with an indication of a feature on a workpiece, each point cluster including a subset of the plurality of 3D coordinates based on a size of a tool for manipulating the feature with the robotic manipulator;
• generate a graph to connect the plurality of point clusters based on one or more constraints;
• calculate at least one tool path to manipulate the feature of the workpiece based on traversing the graph;
• and
• control the robotic manipulator based on the at least one tool path.

A method, comprising:

• calculating, for each of a set of 3D coordinates associated with a tool path for manipulating a feature of a workpiece by a tool coupled to a robotic manipulator, a plurality of possible tool positions for accessing the 3D coordinate;
• determining, from the plurality of possible tool positions for each 3D coordinate, a subset of viable tool positions based on collision information associated with the 3D coordinate;
• selecting, from the subset of viable tool positions for each 3D coordinate, a particular tool position based on one or more motion criteria;
• and
• generating one or more control signals for the robotic manipulator based on the particular tool position for each 3D coordinate of the set.