Surface measurement, selection, and machining

A method for machining a surface, the method comprising:

• retrieving a stored representation of a shape to be achieved by machining;
• machining a first surface location with an end effector, the end effector part of a cart that is movable over the surface and comprises an actuator for adjusting the position of the end effector;
• measuring the position of the end effector with a laser tracking system;
• and
• generating commands for the actuator that positions the end effector, the commands generated based on the position of the end effector and the machining shape.

A system for machining a surface, the system comprising:

• means for storing a representation of a shape to be achieved by machining;
• means for machining a surface at a first surface location;
• laser means for measuring the position of the machining means;
• and
• means for generating commands for a positioning means for the machining means based on the position of the machining means and the machining shape.

An apparatus for machining a surface, the apparatus comprising:

• a communication interface adapted to receive position measurements of an end effector at a first surface location;
• memory storing instructions for machining a surface and for storing a representation of a shape to be achieved by machining;
• and
• a processor coupled to the memory and, according to the instructions, operable to generate commands for an actuator that positions the end effector based on the position of the end effector and the machining shape.

An article of manufacture comprising a computer readable medium storing instructions for machining a surface, the instructions operable to cause one or more machines to perform the following operations:

• retrieve a stored representation of a shape to be achieved by machining;
• detect position measurements of an end effector at a first surface location;
• and
• generate commands for an actuator that positions the end effector based on the position of the end effector and the machining shape.

A system for machining a surface, the system comprising:

• a cart movable in an automated manner over a surface to be machined, the cart comprising:
• an end effector for machining the surface,
• a plurality of actuators for adjusting the orientation of the end effector,
• a mechanical linkage between the actuators and the end effector,
• a laser target coupled to the mechanical linkage, the laser target adapted to determine the orientation of the end effector when illuminated by a laser source,
• rollers adapted to contact and move the cart over the surface to be machined, and
• a motor to drive the rollers;
• a central station with an arm rotatably coupled thereto and extending from the station to the cart, the arm adapted to cause the cart to move around the central station;
• a laser tracking system that measures the location and orientation of the end effector, the laser tracking system comprising a laser source located away from the surface to be machined and a sensor to measure the location of the end effector, the laser source illuminating the laser target on the linkage and, by reflection, the sensor;
• and
• a computer system for storing a representation of a shape to be achieved by machining and adapted to receive the end effector location and orientation, the computer system operable to generate commands for the actuators based on the end effector location and orientation and the machining shape.