System and method for autonomously scanning and processing a part

A method comprising:

• accessing a part model representing surface contours of a part loaded into a work zone proximal a robotic system;
• accessing a set of tool characteristics of a sanding head manipulated by the robotic system, the set of tool characteristics comprising a geometry and a backing compliance of the sanding head;
• retrieving a toolpath pattern;
• retrieving a set of nominal processing parameters;
• projecting the toolpath pattern onto the part model to define a toolpath;
• defining a set of regions along the toolpath;
• for each region, in the set of regions, of the toolpath:
• detecting a local curvature radius of the surface contours represented in the part model proximal the region of the toolpath;
• calculating a contact area between the sanding head and the part proximal the region based on the geometry, the backing compliance, and the local curvature radius;
• and
• defining a target force value, in a set of target force values, of the sanding head normal to local areas on the part based on the backing compliance, the contact area, and the set of nominal processing parameters;
• and
• during a processing cycle, at the robotic system:
• traversing the sanding head along the toolpath;
• reading a sequence of force values from a force sensor arranged in the robotic system, the force sensor configured to output signals representing force of the sanding head on and normal to local areas of the part in contact with the sanding head;
• and
• deviating from the toolpath to maintain the sequence of force values within a threshold difference of the set of target force values.

A method comprising:

• accessing apart model representing surface contours of apart loaded into a work zone adjacent a robotic system;
• accessing a geometry of a sanding head manipulated by the robotic system, the sanding head comprising a compliant backing:
• configured to locate and support a sanding pad;
• configured to elastically deform in response to application of the sanding pad onto a part arranged within the work zone;
• and
• characterized by a backing compliance;
• retrieving a toolpath pattern;
• projecting the toolpath pattern onto the part model to define a toolpath;
• defining a set of regions along the toolpath;
• for each region, in the set of regions, of the toolpath:
• detecting a local curvature radius of surface contours represented in the part model proximal the region of the toolpath;
• calculating a contact area between the sanding head and the part proximal the region and the local curvature radius;
• and
• defining a target force value, in a sequence of target force values, of the sanding head on and normal to the region of the part based on the contact area and proportional to the backing compliance;
• and
• during a processing cycle, at the robotic system:
• traversing the sanding head along the toolpath;
• reading a sequence of force values from a force sensor coupled to the sanding head, the force sensor configured to output signals representing force of the sanding head on and normal to local areas of the part in contact with the sanding head;
• and
• deviating from the toolpath to maintain the sequence of force values within a threshold difference of the sequence of target force values.