Hemming system and method that incorporates expected springback to form a continuous path

A hemming system comprising:

• a processing tool configured to contact and apply pressure to a target;
• and
• a processor configured to:
• scan to obtain an initial contour data of the target;
• plan a first segment of a hemming path according to the initial contour data, wherein the first segment corresponds to a first bending angle;
• plan a second segment of the hemming path according to the initial contour data and an expected springback amount related to the first bending angle, wherein the second segment corresponds to a second bending angle;
• and
• combine the first segment and the second segment to obtain the hemming path, wherein the hemming path is continuous,
• wherein the processing tool is configured to perform a hemming process on the target according to the hemming path obtained from the processor,
• wherein to plan the first segment, the processor is further configured to:
• obtain a processing tangent vector according to the initial contour data and a processing position;
• obtain a processing position coordinate, a distribution angle, and a scaling factor according to the processing position and the processing tangent vector;
• obtain a weight function according to the scaling factor, the processing position, the distribution angle, and the processing position coordinate;
• obtain a processing normal vector according to the initial contour data, the processing position, and the weight function;
• and
• plan the first segment according to the processing tangent vector and the processing normal vector.