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

A robot configured to perform a plurality of operations within a region of a part, the robot comprising:

• an end effector, wherein the end effector includes an operation device configured to perform the plurality of operations;
• an imaging device;
• and
• a controller programmed to control the operation of the robot by:
• collecting, with the imaging device, a spatial representation of the part;
• aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part;
• defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector, wherein the defining is based, at least in part, on the spatial representation of the part, and further wherein each operation location of the plurality of predetermined operation locations is defined along the predetermined raster scan pattern;
• moving the end effector relative to the part and along the predetermined raster scan pattern;
• and
• at each operation location:
• (i) orienting the end effector such that the operation device faces toward each operation location along a corresponding normality vector of the plurality of normality vectors;
• and
• (ii) executing, with the operation device, a corresponding operation of the plurality of operations.