Closed-loop robotic deposition of material

One or more non-transitory computer-readable media including instructions that, when executed by one or more processors, cause the one or more processors to fabricate a three-dimensional (3D) object by performing the steps of:

• causing a deposition tool to deposit a first weld bead at a first deposition location on the 3D object;
• capturing first optical data from the first deposition location while depositing the first weld bead;
• identifying a first image of the first weld bead within the first optical data;
• determining the first deposition location based on the first image;
• determining a second deposition location on the 3D object based, at least in part, on the first deposition location comprising comparing a distance between the first deposition location and a target location to a radius of influence to generate a first ratio, wherein the second deposition location is determined based, at least in part, on the first ratio;
• and
• causing the deposition tool to deposit a second weld bead at the second deposition location on the 3D object.

A system, comprising:

• one or more memories that include instructions;
• and
• one or more processors that are coupled to the one or more memories and, when executing the instructions, are configured to:
• cause a deposition tool to deposit a first weld bead at a first deposition location on the 3D object;
• capture first optical data from the first deposition location while depositing the first weld bead;
• identify a first image of the first weld bead within the first optical data;
• determine the first deposition location based on the first image;
• determine a second deposition location on the 3D object based, at least in part, on the first deposition location comprising comparing a distance between the first deposition location and a target location to a radius of influence to generate a first ratio, wherein the second deposition location is determined based, at least in part, on the first ratio;
• and
• cause the deposition tool to deposit a second weld bead at the second deposition location on the 3D object.

A computer-implemented method for fabricating a three-dimensional (3D) object, the method comprising:

• causing a deposition tool to deposit a first weld bead at a first deposition location on the 3D object;
• capturing first optical data from the first deposition location while depositing the first weld bead;
• identifying a first image of the first weld bead within the first optical data;
• determining the first deposition location based on the first image;
• determining a second deposition location on the 3D object based on the first deposition location;
• causing the deposition tool to deposit a second weld bead at the second deposition location on the 3D object, wherein the first weld bead and the second weld bead reside on a first branch of the 3D object;
• and
• depositing a third weld bead on a second branch of the 3D object.