Setup planning and parameter selection for robotic finishing

A robotic platform, comprising:

• at least one of a motor or an actuator configured to move a robot;
• one or more processors;
• a memory configured to store computer-readable instructions that when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising:
• sampling a plurality of poses of the robot in a plurality of dimensions within a robotic workspace to generate a plurality of candidate configurations of an object within the robotic workspace including a first candidate configuration and a second candidate configuration;
• determining a first score for the first candidate configuration based on a first area coverage of a region of interest and a first amount of setup time;
• determining a second score for the second candidate configuration based on a second area coverage of the region of interest and a second amount of setup time;
• determining a set of candidate configurations of the object that covers the region of interest and minimizes an amount of setup time for the set of candidate configurations based on the first score and the second score;
• and
• controlling the at least one of the motor or the actuator connected to an object holder of the robot to position or orient the object on the object holder based on the set of candidate configurations of the object.

A computer-implemented method for automated setup planning and finishing for a robot, comprising:

• sampling, by a processor, a plurality of poses of the robot within a robotic workspace to generate one or more candidate configurations of an object;
• determining, by the processor, a score for each candidate configuration of the one or more candidate configurations of the object;
• determining, by the processor, a plurality of sets of candidate configurations of the object that each have an overall area coverage that covers a region of interest and a set score based on the score for each candidate configuration;
• selecting, by the processor, a set of candidate configurations from the plurality of sets of candidate configurations that has a set score greater than the set score of the other sets of candidate configurations of the plurality of sets of candidate configurations;
• obtaining, by the processor, one or more constraints and an objective;
• determining, by the processor, a plurality of robot performance parameters based on the one or more constraints and the objective;
• and
• controlling, by the processor and using a motor or actuator connected to an object holder or platform, the robot based on the set of candidate configurations and the plurality of robot performance parameters.