I'm working toward a long term goal of implementing robotics in my manufacturing. The first major hurdle I have come across is that I would need to have the equipment create a 3d model of its work, find discrepancies between reality and CAD, and, in an effort to mitigate the impacts of inherently imperfect materials, use those discrepancies to adjust the plans accordingly. My guess is this not an original thought, where might I find software or info about how to accomplish this?