OPENTECHNICAL PUBLICATION
OT-2026-000002688

Method for monitoring health of a robotic system

Published: 2026-09-15T19:14:41.085685Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002688
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

ABSTRACT

One variation of a method for autonomously scanning and processing a part
includes: accessing a part model representing a part positioned in a work zone
adjacent a robotic system; retrieving a sanding head translation speed;
retrieving a toolpath for execution on the part defining positions,
orientations, and target forces applied by the sanding head to the part. The
method includes traversing the sanding head along the toolpath, at the sanding
head translation speed; reading a sequence of applied forces from a force
sensor coupled to the sanding head at positions along the toolpath; and
deviating from the toolpath to maintain the set of applied forces within a
threshold difference of a sequence of target forces along the toolpath. In one
variation of the method, the robotic system executes a toolpath at a duration
less than target duration by selectively varying target force and sanding head
translation speed across the part.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000002688
Published 2026-09-15T19:14:41.085685Z
https://opentechnical.org/p/OT-2026-000002688