Robotic system and method for operating on a workpiece

ROBOTIC SYSTEM AND METHOD FOR OPERATING ON A A robotic system (100) includes a robot (102) and a processor (204) configured to autonomously generate a master plan (222) for movement of an end effector (110) of the robot (102) for operating on an operating surface (308) of a workpiece (300) in a physical environment (350). The master plan (222) is based on a computer aided design (CAD) model (208) of the workpiece (300) and defines movement paths (238) of the end effector (110) based on a reach distance of a robotic arm (106) of the robot (102) at each of a plurality of working waypoints defined in the master plan (222) and corresponding to fiducial markers (316) on the workpiece (300). The processor (204) registers the robot (102) to the workpiece (300), iteratively adjusts an approximate workpiece position (244) in a world map (242) until matching an actual workpiece position in the physical environment (350), and constructs and executes a robotic arm trajectory causing the end effector (110) to operate on the operating surface (308) along the movement paths defined in the master plan (222). - CI C) C)C CN( C0) (NN C)