Part modeling for path generation to guide robotic end effector

A device comprising:

• one or more processors;
• a computer readable medium including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• registering a working frame of a target object with a reference frame of a robot;
• generating a path over a representation of a surface of the target object, wherein the path comprises a virtual point and a normal at the virtual point, and wherein the virtual point corresponds to a real-world target;
• generating a trajectory over the surface of the target object based on the registration, the path, and the normal, wherein the trajectory comprises a set of robot joint parameters used to traverse the surface of the target object, and wherein the trajectory traverses the real-world target;
• classifying a target type for the real-world target using a machine learning model based on scanned data of the surface of the target object;
• generating a robot job file, wherein the robot job file comprises the trajectory and an autonomous operation instruction, and
• transmitting the robot job file to a robot controller.

A computer-readable medium including one or more sequences of instructions, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• registering a working frame of a target object with a reference frame of a robot;
• generating a path over a representation of a surface of the target object, wherein the path comprises a virtual point and a normal at the virtual point, and wherein the virtual point corresponds to a real-world target;
• generating a trajectory over the surface of the target object based on the registration, the path, and the normal, wherein the trajectory comprises a set of robot joint parameters used to traverse the surface of the target object, and wherein the trajectory traverses the real-world target;
• classifying a target type for the real-world target using a machine learning model based on scanned data of the surface of the target object;
• generating a robot job file, wherein the robot job file comprises the trajectory and an autonomous operation instruction, and
• transmitting the robot job file to a robot controller.