End effector compensation of a robotic system

A robotic system, comprising:

• an end effector having a Tool Center Point (TCP), wherein the end effector comprises a print head having a plurality of nozzles;
• and
• at least one controller configured to implement a primary control plan that defines a tool path for the end effector, wherein the tool path includes a plurality of pre-defined TCP positions,
• wherein the at least one controller is configured to implement a secondary control plan that defines operation of the end effector at each of the plurality of pre-defined TCP positions, wherein the secondary control plan comprises firing a subset of the plurality of nozzles in a pre-determined sequence at each pre-defined TCP position of the print head,
• wherein the at least one controller is configured to determine a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system, and to modify the secondary control plan for the end effector, without modifying the primary control plan, based on the deviation during the implementation of the primary control plan by the robotic system, wherein modifying the secondary control plan comprises firing a different subset of the nozzles at the actual TCP position of the print head based on the deviation.

A non-transitory computer-readable medium embodying programmed instructions which, when executed by at least one processor of a robotic system, directs the at least one processor to:

• define a Tool Center Point (TCP) for an end effector of the robotic system, wherein the end effector comprises a print head having a plurality of nozzles;
• provide a primary control plan that defines a tool path for the end effector having a plurality of pre-defined TCP positions;
• provide a secondary control plan that defines operation of the end effector at each of the plurality of pre-defined TCP positions, wherein the secondary control plan comprises firing a subset of the plurality of nozzles in a pre-determined sequence at each pre-defined TCP position of the print head;
• determine a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system;
• and
• modify the secondary control plan for the end effector, without modifying the primary control plan, based on the deviation during the implementation of the primary control plan by the robotic system, wherein modifying the secondary control plan comprises firing a different subset of the nozzles at the actual TCP position of the print head based on the deviation.