Abstract: This disclosure describes systems, methods, and devices related to robotic control for tool sharpening. The device may determine a first location associated with a first cutting tool of the one or more cutting tools relative to the first container. The device may grip the first cutting tool based on the first location of the first cutting tool relative to the first container. The device may move the robotic device to one more scanning sensors. The device may collect three dimensional data. The device may extract a profile of the first cutting tool. The device may determine a top edge and a bottom edge based on the profile. The device may determine a tip of the first cutting tool. The device may generate a sharpening path based on the tip and the profile of the first cutting tool.

Abstract: This disclosure describes systems, methods, and devices related to robotic control for tool sharpening. The device may determine a first location associated with a first cutting tool of the one or more cutting tools relative to the first container. The device may grip the first cutting tool based on the first location of the first cutting tool relative to the first container. The device may move the robotic device to one more scanning sensors. The device may collect three dimensional data. The device may extract a profile of the first cutting tool. The device may determine a top edge and a bottom edge based on the profile. The device may determine a tip of the first cutting tool. The device may generate a sharpening path based on the tip and the profile of the first cutting tool.

Abstract: An apparatus, system, and a method for sharpening a cutting tool. The system sharpens cutting tools by manipulating the tool, measuring the three dimensional profile of the tool, and then grinding the tool. The apparatus consists of a robot capable of six degrees of motion, a gripping mechanism, a force-torque sensor capable of at least two directions of force and/or torque, a three dimensional scanning subsystem, a loading subsystem, a user interface, an initial orientation scan subsystem, a data processing and robot control subsystem, and at least one grinding system comprising two counter-rotating grinding wheels. The method automates the grinding process so that dull cutting tools can be placed into the loading system, sharpened by the system, and then ejected fully honed.