Method for automatically performing an operation on an object with a tool carried by a polyarticulated system

A facility for automatically performing an operation on an object with a tool movable in a working environment, the facility comprising:

• a polyarticulated system carrying the tool;
• and
• a 3D sensor connected to a computer processing system and to a display, the computer processing system being configured to:
• represent on the display an overall point cloud of the object and of all or part of the working environment from images captured by the 3D sensor,
• represent a work image resulting from merging the overall point cloud, of a pre-existing CAD model of the polyarticulated system and of a pre-existing CAD model of all or part of the working environment,
• allow a trajectory of the tool to be defined on the part of the work image representing the object,
• execute a simulation of the corresponding movement of the polyarticulated system and the tool in the work image to ensure that the operation is feasible, and
• execute the actual movement of the polyarticulated system carrying the tool along the trajectory defined for performing the operation as such on the object.