# US 11,040,448 B2 · Methods and systems for establishing and maintaining a pre-build relationship > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,040,448 B2 - Document ID: US11040448B2 - Status: Granted - Kind: B2 - Application number: 16/392,761 - Filed: 2019-04-24 - Published: 2019-10-10 - Granted: 2021-06-22 - Earliest claimed: 2017-04-07 - Assignees: X Development LLC - Applicants: X Development LLC - Inventors: Eli Reekmans; Marek Michalowski; Michael Beardsworth - Web page: https://patentgrep.com/patent/US11040448B2 ## CPC - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - G05B 19/4099: Surface or curve machining, making three-dimensional [3D] objects, e.g. desktop manufacturing - B25J 9/1605: {Simulation of manipulator lay-out, design, modelling of manipulator} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 11/00: Manipulators not otherwise provided for - G05B 15/02: electric - G05B 2219/37205: Compare measured, vision data with computer model, cad data - G05B 2219/37617: Tolerance of form, shape or position - G05B 2219/39191: Compensation for errors in mechanical components - Y10S 901/02: Arm motion controller - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter. ## Claims ### Claim 1 A computer-implemented method comprising: accessing a model that include values that define relationships between components of a structure that is to be manufactured by a robot, wherein the model includes multiple build values for a first component that are (i) defined before the structure is manufactured, and (ii) initially defined relative to to-be-determined value for a second component, wherein the to-be-determined value for the second component is determined based on an observation of a condition of the second structure after it is manufactured by the robot; determining, after the second component has been manufactured and before the manufacturing of the first component is complete, an observed condition of the second component; selecting, after the second component has been manufactured and before the manufacturing of the first component is complete, a particular value from among the multiple build values based on the observed condition of the structure; and using the selected, particular build value to complete the manufacturing of the first component according to the model. ### Claim 2 (depends on 1) The method of claim 1, wherein the observed condition of the second component comprises a position of the second component as the structure has actually been manufactured. ### Claim 3 (depends on 1) The method of claim 1, wherein the observed condition of the second component comprises an orientation of the second component as the structure has actually been manufactured. ### Claim 4 (depends on 1) The method of claim 1, wherein the observed condition of the second component comprises a size of the second component as the structure has actually been manufactured. ### Claim 5 (depends on 1) The method of claim 1, wherein the observed condition of the second component comprises a material property of the second component as the structure has actually been manufactured. ### Claim 6 (depends on 1) The method of claim 1, comprising receiving data correlating each of the multiple build values to a different observed condition through a graphical user interface from a designer. ### Claim 7 (depends on 1) The method of claim 1, wherein selecting the particular value comprises selecting a position to manufacture the first component based on an observed position of the second component, as the structure has actually been manufactured. ### Claim 8 A non-transitory computer-readable storage device storing instructions, that when executed by one or more processors, cause performance of operations that comprise: accessing a model that include values that define relationships between components of a structure that is to be manufactured by a robot, wherein the model includes multiple build values for a first component that are (i) defined before the structure is manufactured, and (ii) initially defined relative to to-be-determined value for a second component, wherein the to-be-determined value for the second component is determined based on an observation of a condition of the second structure after it is manufactured by the robot; determining, after the second component has been manufactured and before the manufacturing of the first component is complete, an observed condition of the second component; selecting, after the second component has been manufactured and before the manufacturing of the first component is complete, a particular value from among the multiple build values based on the observed condition of the structure; and using the selected, particular build value to complete the manufacturing of the first component according to the model. ### Claim 9 (depends on 8) The device of claim 8, wherein the observed condition of the second component comprises a position of the second component as the structure has actually been manufactured. ### Claim 10 (depends on 8) The device of claim 8, wherein the observed condition of the second component comprises an orientation of the second component as the structure has actually been manufactured. ### Claim 11 (depends on 8) The device of claim 8, wherein the observed condition of the second component comprises a size of the second component as the structure has actually been manufactured. ### Claim 12 (depends on 8) The device of claim 8, wherein the observed condition of the second component comprises a material property of the second component as the structure has actually been manufactured. ### Claim 13 (depends on 8) The device of claim 8, comprising receiving data correlating each of the multiple build values to a different observed condition through a graphical user interface from a designer. ### Claim 14 (depends on 8) The device of claim 8, wherein selecting the particular value comprises selecting a position to manufacture the first component based on an observed position of the second component, as the structure has actually been manufactured. ### Claim 15 A computing system comprising: one or more computers; and one or more storage units storing instructions that when executed by the one or more computers cause the computing system to perform operations comprising: accessing a model that include values that define relationships between components of a structure that is to be manufactured by a robot, wherein the model includes multiple build values for a first component that are (i) defined before the structure is manufactured, and (ii) initially defined relative to to-be-determined value for a second component, wherein the to-be-determined value for the second component is determined based on an observation of a condition of the second structure after it is manufactured by the robot; determining, after the second component has been manufactured and before the manufacturing of the first component is complete, an observed condition of the second component; selecting, after the second component has been manufactured and before the manufacturing of the first component is complete, a particular value from among the multiple build values based on the observed condition of the structure; and using the selected, particular build value to complete the manufacturing of the first component according to the model. ### Claim 16 (depends on 15) The system of claim 15, wherein the observed condition of the second component comprises a position of the second component as the structure has actually been manufactured. ### Claim 17 (depends on 15) The system of claim 15, wherein the observed condition of the second component comprises an orientation of the second component as the structure has actually been manufactured. ### Claim 18 (depends on 15) The system of claim 15, wherein the observed condition of the second component comprises a size of the second component as the structure has actually been manufactured. ### Claim 19 (depends on 15) The system of claim 15, wherein the observed condition of the second component comprises a material property of the second component as the structure has actually been manufactured. ### Claim 20 (depends on 15) The system of claim 15, comprising receiving data correlating each of the multiple build values to a different observed condition through a graphical user interface from a designer.