Robotic polishing system and method for using same

Abstract

A polishing system includes an end effector, a calibration system, and a controller. The end effector includes a polishing arm, a motor, and a tool head. The tool head extends along a lengthwise axis between and to an inner end and a tip end. The tool head includes a belt tensioner and a roller. The roller is rotatable about a tool center point of the tool head at the tip end. The tool head is configured to retain an abrasive belt extending between the motor and the roller. The calibration system includes an imaging device. The controller includes a processor in communication with a non-transitory memory storing instructions, which instructions when executed by the processor, cause the processor to control the imaging device to acquire image data for the tool head, identify a position of the tool center point using the image data, and store the identified position in the memory.