Controlling a robotic arm based on profilometer scans to perform precision workstation operations upon a workpiece

A method for operating a computer-controlled industrial robotic arm to perform operations by a set of one or more workstations upon a workpiece, the method comprising:

• attaching a set of one or more position targets to the robotic arm, wherein each of the position targets has a defined surface profile that is configured for detection by a 3D scanning profilometer;
• operating the robotic arm to pass a centerpoint feature defined by the surface profile of a first target of the set of position targets through a detection plane of a first profilometer during a first profilometer scan;
• based on the first profilometer scan and a registered position of the robotic arm, determining a position of the centerpoint feature during the first profilometer scan;
• for each workstation of the set of one or more workstations:
• manually controlling positioning of the robotic arm to make physical contact between the centerpoint feature and each of one or more calibration points on the each workstation, and
• determining a position of an operating feature of the each workstation based on a registered position of the robotic arm at each physical contact;
• securing a workpiece to the robotic arm;
• operating the robotic arm to pass a portion of the workpiece to be operated upon and a second target of the set of position targets through the detection plane of the first profilometer during a second profilometer scan;
• based on the second profilometer scan, computationally determining a physical surface profile of the portion of the workpiece relative to the second target;
• and
• based on the determined physical surface profile relative to the second target, operating the robot arm to manipulate the portion of the workpiece for operation upon by the operating feature of the each workstation of the set of one or more workstations.