Automatic Generation of Toolpaths

1 . A method comprising:

determining task information of a path-based task by an end-effector on an object, wherein the task information comprises (i) at least one task parameter, and (ii) a nominal representation of the object;

based on the task information, determining one or more parametric instructions for the end-effector to perform the task, wherein the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the path-based task;

generating, based on sensor data, an observed representation of the object;

comparing the observed and the nominal representations of the object;

based on the comparison, mapping the one or more parametric instructions to the observed representation of the object; and

sending the mapped instructions to the end-effector to cause the robotic device to perform the path-based task.

2 . The method of claim 1 , wherein the one or more parametric instructions define instructions for the end-effector such that the end-effector performing the path-based task satisfies the at least one task parameter.

3 . The method of claim 1 , wherein determining one or more parametric instructions for the end-effector to perform the task is further based on at least one of: a feature of the end-effector or a feature of the object.

4 . The method of claim 1 , wherein mapping the one or more parametric instructions comprises mapping the toolpath to the representation of the object.

5 . The method of claim 1 , wherein the one or more parametric instructions further indicate one or more values for one or more control parameters controlling action of the end-effector as the end-effector moves along the toolpath.

6 . The method of claim 5 , wherein the one or more control parameters comprise one or more of: a speed of the end-effector, a pressure applied by the end-effector, and a torque applied by the end-effector.

7 . The method of claim 1 , wherein the path-based task is an adhesion application task, and wherein the end-effector comprises an applicator that deposits adhesive onto a surface of the object.

8 . The method of claim 7 , wherein the one or more parametric instructions further indicate at least one of: a speed at which the adhesive applicator moves along the toolpath, an amount of adhesive to deposit, or a pressure at which the adhesive applicator dispenses the adhesive onto the surface.

9 . The method of claim 7 , wherein the at least one task parameter is a desired deposition coverage area on the surface.

10 . The method of claim 7 , wherein the adhesive applicator moving along the toolpath deposits the adhesive in a deposition pattern, wherein the deposition pattern has a width, length, and depth.

11 . The method of claim 1 , wherein the path-based task is a sanding task, wherein the end-effector comprises a sander, and wherein the task parameter comprises a desired surface finish.

12 . The method of claim 11 , further comprising:

determining material property information indicative of a type of material of the object; and

determining, based on the material property information and the task parameter, (i) a speed of motion of the end-effector while moving along the toolpath, and (ii) pressures to be exerted by the end-effector.

13 . The method of claim 1 , wherein the nominal representation of the object is provided by a pre-build model of the object, and wherein the observed representation of the object comprises a post-build representation of the object.

14 . A system comprising:

at least one communication interface for communication with a robotic device, wherein the robotic device comprises an end-effector configured to interact with objects;

at least one communication interface for communication with a scanner device;

at least one processor;

a non-transitory computer readable medium (CRM) comprising program instructions executable by the at least one processor perform functions, the functions comprising:

determining one or more parametric instructions for a path-based task by the end-effector on a surface of an object, wherein the one or more parametric instructions indicate a path on the surface, and wherein the one or more parametric instructions are based on a nominal representation of the surface;

determining that fabrication of the surface is complete and responsively cause the scanner device to perform a scan of the surface;

determining an observed representation of the surface based on the scan;

based on a comparison of the observed representation of the surface to the nominal representation of the surface, updating the one or more parametric-based instructions to provide for performance of the path-based task on the surface in accordance with the observed representation of the surface; and

sending, via the at least one communication interface, the one or more updated instructions to the robotic device, so as to cause the robotic device to perform the path-based task on the surface.

15 . The system of claim 14 , wherein determining one or more parametric instructions for the end-effector to perform the task is further based on at least one of: a feature of the end-effector or a feature of the object.

16 . The system of claim 14 , wherein updating the one or more parametric instructions comprises determining an updated path on the surface for the end-effector.

17 . The system of claim 14 , wherein the one or more parametric instructions further indicate one or more values for one or more control parameters controlling action of the end-effector as the end-effector moves along the path.

18 . A method comprising:

analyzing a parametric model of an object;

based on the analysis, (i) determining a parameter of a path-based task to be performed on the object by an end-effector, and (ii) generating a parametric toolpath for the end-effector;

at runtime of the path-based task, receiving sensor data indicative of a representation the object;

based on the sensor data, mapping the parametric toolpath to the representation of the object;

generating instructions that cause the end-effector to perform the path-based task by following the mapped toolpath; and

sending the instructions to the end-effector to cause the robotic device to perform the path-based task on the object.

19 . The method of claim 18 , wherein generating a parametric toolpath for the end-effector comprises defining the parametric toolpath as a function of distance from one or more features of the object.

20 . The method of claim 19 , wherein mapping the parametric toolpath comprises:

using the representation to the locate the one or more features of the object; and

mapping the parametric toolpath with respect to the one or more features of the object.