The Boeing Company

Willaredt E Hardy

Anthony Wayne Baker

Sildomar T Monteiro

Methods for selecting a path of a multi-component end effector along a surface, robots that perform the methods, and storage media that directs robots to perform the methods. The multi-component end effector is attached to a robot, which is configured to move the multi-component end effector along the surface on a continuous tool centerpoint path (TCP). The multi-component end effector includes a plurality of end effector elements configured to move relative to one another. The method includes providing a discretized TCP that includes a plurality of spaced-apart waypoints along the continuous TCP. The method also includes determining a plurality of distance heuristics. The method further includes updating the plurality of distance heuristics to define a plurality of updated distance heuristics. The method also includes selecting the path of the multi-component end effector along the surface based upon the plurality of updated distance heuristics.

Methods for selecting a path of a multi-component end effector along a surface, robots that perform the methods, and storage media that directs robots to perform the methods

Systems and methods for assessing the calibration of an array of cameras. The method including inputting into a processor captured images from at least two cameras of the array of cameras, the captured images having features from an image. The method further including extracting one or more extracted features from the captured images, matching one or more extracted features between pairs of the at least two cameras to create a set of matched features, selecting matching points from the set of matched features, generating a three-dimensional reconstruction of objects in a field of view of the at least two cameras, and outputting the three-dimensional reconstruction wherein the three-dimensional reconstruction comprises indicators of calibration errors.

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Greenwich, CT, United States of America

Willaredt E Hardy