公开(公告)号：US20240246164A1

公开(公告)日：2024-07-25

申请号：US18419428

申请日：2024-01-22

Applicant: Path Robotics, Inc.

Inventor： Surag BALAJEPALLI ,  Rachit AGGARWAL ,  Ali ZAMANI ,  Lakshmi MADDIRALA ,  Mohammadhossein SAADATZI ,  Ashwin NEHETE ,  Matthew KLEIN

IPC: B23K9/095 ,  B23K26/03 ,  B25J9/16 ,  B25J11/00 ,  G06T7/00 ,  G06T7/73

CPC classification number: B23K9/0956 ,  B23K9/0953 ,  B23K26/032 ,  B25J9/1666 ,  B25J9/1671 ,  B25J11/005 ,  G06T7/0004 ,  G06T7/75 ,  G06T2207/30152

Abstract: Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of an assembly robotic system. In one aspect, the assembly robotic system performs at least one of a first or second scan operation. In the first scan operation, one or more scan poses is selected from among a plurality of generated candidate poses. For each scan pose of the one or more scan poses, the controller initiates a scan operation associated with a region identified to include a seam associated with a feature of the object. As part of the second scan operation, for each candidate scan pose, a scan operation is simulated. Based on the generated simulated scan data, multiple scan poses are selected and a scan trajectory is generated for a scan operation. Other aspects and features are also claimed and described.