Portable programmable machines, robotic end effectors, and related methods

A robotic end effector (49) configured to perform a task within a confined space (17), wherein each performance of the task creates a piece of debris (212), the robotic end effector (49) comprising:

• a debris retention structure (105) configured to retain the piece of debris (212) within the robotic end effector (49) subsequent to each performance of the task by the robotic end effector (49);
• a debris catcher (202) configured to receive the piece of debris (212) from the debris retention structure (105) after each performance of the task;
• and
• an actuation mechanism (103) configured to selectively move the piece of debris (212) from the debris retention structure (105) to the debris catcher (202) after each performance of the task.

A method, comprising:

• securing an insert (54) of a programmable work machine (26) with respect to an access port (12) of a confined space (17);
• calculating a desired position of a robotic end effector (49) within the confined space (17), wherein the robotic end effector (49) is coupled to the programmable work machine (26), wherein the calculating the desired position is based on a reference location defined by the access port (12) of the confined space (17);
• moving the robotic end effector (49) to the desired position within the confined space (17) while the insert (54) remains secured with respect to the access port (12);
• and
• performing one or more tasks within the confined space (17) using the robotic end effector (49), wherein the performing the one or more tasks comprises performing a given task a plurality of times within the confined space (17) at a plurality of respective desired positions.