System and method for grinding reflective working surfaces

Abstract

A surface grinding system is presented that includes a robotic arm with an end effector at an end of the robotic arm. The end effector is configured to be coupled to an abrasive article. The system also includes a movement mechanism that moves the robotic arm relative to the surface. The system also includes a robot controller that causes the robot arm to perform a grinding trajectory on the surface. The grinding track includes the abrasive article in contact with the surface. The robot controller includes a trajectory retriever that retrieves a grinding trajectory. The grinding trajectory includes a surface appearance portion before the end point. The surface appearance portion includes reducing the speed of relative movement between the robotic arm and the abrasive article or reducing an effective applied force on the abrasive article. The controller also includes a command generator that sends the grinding trajectory to the moving mechanism to execute the trajectory.

Description

Background Art

[0001] Clearcoat repair is one of the last operations to be automated in the automotive original equipment manufacturing (OEM) sector. Defect repair presents many challenges for automation. Reflective materials present unique challenges for automation. Summary of the invention

[0002] A surface grinding system is proposed, which includes a robot arm with an end effector at the end of the robot arm. The end effector is configured to be connected to an abrasive article. The system also includes a moving mechanism for moving the robot arm relative to a surface. The system also includes a robot controller, which causes the robot arm to execute a grinding track on the surface. The grinding track includes the abrasive article in contact with the surface. The robot controller includes a track retriever for retrieving the grinding track. The grinding track includes a surface appearance portion before the end point. The surface appearance portion includes reducing the relative movement speed between the robot arm and the abrasive article or reducing the effective applied force on the abrasive article. The controller also includes a command generator, which sends the grinding track to the moving mechanism to execute the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0003] In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views.The drawings are generally shown by way of example, but not limitation, of the various embodiments discussed in this document.

[0004] Figure 1 is a schematic diagram of a robotic surface processing system in which embodiments of the present invention are useful.

[0005] Figure 2A Figure 2D shows defects that may be introduced during the clearcoat repair process.

[0006] FIG. 3A to FIG. 3B is a schematic diagram illustrating surface treatment operations in which embodiments herein may be practiced.

[0007] FIG. 4A to FIG. 4C A single-row scanning array imaging system for curved surfaces is shown.

[0008] 5A-5B illustrate process parameters and results of the grinding operations described herein.

[0009] Figure 6 A schematic diagram of a surface treatment operation according to embodiments herein is shown.

[0010] Figure 7 A method of modifying a repair solution according to embodiments herein is shown.

[0011] Figure 8A method of abrading a surface according to embodiments herein is shown.

[0012] Fig. 9 A robotic grinding system according to embodiments herein is shown.

[0013] Fig.10 It is the robot grinding system architecture.

[0014] Figure 11 to Figure 12 An example of a computing device that may be used in the embodiments shown in the previous figures is shown. DETAILED DESCRIPTION

[0015] Recent advances in imaging technology and computing systems have made it feasible to perform inspection and repair of clearcoat defects at production speeds. Specifically, stereo deflectometry has recently been demonstrated to provide images and locations of paint and clearcoat defects with appropriate resolution as well as spatial information (providing coordinate location information and defect classification) to allow subsequent automated spot repair. As automated imaging of work surfaces improves, it is also expected that the ability to automatically process work surfaces will be improved. For example, in the case of clearcoat repair, it is expected that a robotic repair system will be used to repair detected defects with as little human intervention as possible.

[0016] However, as discussed in this article, one issue with automation is the precision with which the robotic system executes the repair trajectory, which starts and ends at tightly constrained locations. Human operators can rarely repeat exactly the same repair motion, which results in some randomness that is difficult to replicate in the robotic system. This random motion, especially during the end of the repair, often results in a more desirable final appearance.

[0017] Robotic applications often utilize servo motors, which are more likely to achieve speed control, acceleration and deceleration rates, and the ability to maintain a set point speed regardless of the amount of force applied. Tools that utilize pneumatics, and even many battery-powered electric tools used for these applications, do not have the ability to independently control these parameters. Therefore, it is important to find a way to reproduce the aesthetic effects achieved by human operators with the greater control and efficiency of robotic applications.

[0018] As used herein, the term "vehicle" is intended to encompass a wide range of mobile structures that receive at least one coat of paint or varnish during the manufacturing process. Although many of the examples herein relate to automobiles, it is expressly contemplated that the methods and systems described herein are also applicable to trucks, trains, boats (with or without motors), airplanes, helicopters, and the like. Additionally, although vehicles are described as examples in which the embodiments herein are particularly useful, it is expressly contemplated that some of the systems and methods herein may be applied to surface treatments in other industries, such as painting, adhesive treatments, or material removal, such as sanding or polishing wood, plastics, paint, and the like.

[0019] The term "paint" is used herein to broadly refer to any of the various layers of a vehicle, such as electrocoat, filler, primer, paint, clearcoat, etc., that have been applied during the refinishing process. Additionally, the term "paint repair" relates to locating and repairing any visual artifacts (defects) on or in any of the paint layers. In some embodiments, the systems and methods described herein use a clearcoat as the target paint repair layer. However, the proposed systems and methods are applicable to any specific paint layer (electrocoat, filler, primer, paint, clearcoat, etc.) with little or no modification.

[0020] As used herein, the term "defect" refers to an area on a working surface that interferes with visual aesthetics. For example, many vehicles appear shiny or metallic after a paint job. "Defects" may include debris trapped within one or more of the various paint layers on a working surface. Defects may also include smudges in the paint, excess paint including streaks or drips, and indentations.

[0021] Figure 1 1 is a schematic diagram of a robotic paint repair system in which embodiments of the present invention are useful. The system 100 generally includes two units, a visual inspection system 110 and a defect repair system 120. The two systems can be controlled by motion controllers 112, 122, respectively, which can receive instructions from one or more application controllers 150. The application controllers can receive input or provide output to a user interface 160. The repair unit 120 includes a force control unit 124 that can be aligned with an end effector 126. As shown in FIG. Figure 1 As shown, the end effector 126 includes two processing tools 128. However, other arrangements are also expressly contemplated.

[0022] The current state of the art in vehicle paint repair is to use fine grinding and / or polishing systems to manually sand / polish defects with or without the aid of power tools while maintaining the desired finish (e.g., matching specular reflectivity in a clear coat). Professionals performing such repairs utilize many hours of training while using their senses to monitor the progress of the repair and make changes accordingly. This complex behavior is difficult to capture in a sensing-limited robotic solution.

[0023] Additionally, abrasive material removal is a pressure driven process, and many industrial manipulators typically operate naturally in an azimuth tracking / control regime and are optimized with regard to azimuth accuracy. The result is an extremely precise system with an extremely rigid error response curve (i.e., small azimuth displacements result in very large correction forces) that is inherently poor under force control (i.e., joint torque and / or Cartesian forces). Closed-loop force control methods have been used (with limited effectiveness) to address the latter along with newer (and more successful) force control flanges that provide soft (i.e., non-rigid) displacement curves that are more suitable for sensitive force / pressure driven processes. However, the issue of robust process strategy / control remains and is the focus of this work.

[0024] As described herein, post-repair inspection can be performed substantially immediately after repair, for example using an imaging system mounted in tool position 128 opposite the abrasive repair tool in opposite tool position 128. In other embodiments, post-repair inspection can be accomplished by a second imaging system mounted on the robotic unit 110, such that pre-repair and post-repair imaging is performed by the same imaging system or one of a dual mounted imaging system, for example. In other embodiments, post-repair imaging is performed by a third robotic system ( Figure 1 ) is completed.

[0025] In addition, although the systems and methods herein are discussed in a post-repair context, it is expressly contemplated that they may also be used in a pre-inspection context, such as to inform a defect repair process. For example, a vehicle 130 may be globally inspected by an inspection system 110 or a system described herein to identify defect locations and types. A second pass may then be made by the same or a different system to obtain a different image or a higher resolution image of the defect, or more precise location information. The second pass may be used to provide additional feedback to the defect repair system 100, such as changing a polishing step from 3 seconds to 5 seconds. In other embodiments, a second pass or a third pass is made after the repair to confirm that the defect has been repaired and to understand how the repair has changed the surface—removing orange peel, introducing haze or scratches, and the like.

[0026] FIG. 2A to FIG. 2C Shown are defects that may be introduced during the clearcoat repair process. FIG. 2A to FIG. 2C Some exemplary images of surfaces taken after restoration are shown. In automated robotic paint refinishing, paint defects are sanded away with a sanding disc. This removes the defect, but introduces scratches into the surface. These sanding scratches are removed by a buffing step using a polish. However, the buffing step may introduce very fine scratches into the surface that are seen as haze at certain light angles. Haze may not be visible at every angle, but it is considered by consumers to be an undesirable surface appearance and should be minimized or avoided as much as possible.

[0027] The pinwheel effect is also seen in the context of robotic grinding. It is known that after abrasion treatment on clearcoat surfaces, a specific haze defect, often referred to as a "pinwheel" or "hologram" (as shown in Figure 2D to Figure 2), is sometimes seen due to microscopic scratches on the surface.

[0028] Paint defects formed during the painting process are often removed using abrasive media. However, during the abrading process, the surface texture may be altered or "damaged," which can change the appearance of the repaired area. Although the goal of the polishing process is to remove all sanding scratches and restore a mirror finish, micro scratches may be introduced, resulting in a hazy appearance on the surface.

[0029] Figure 2A Figure 2D shows a post-repair image of defects that may be introduced during the repair process. Some defects can be addressed by changing the trajectory, such as in U.S. Provisional Patent Application Serial No. 17 / 756,444 filed on November 24, 2020. Other defects can be addressed by additional post-repair steps.

[0030] Figure 2A A repaired image 200 of a surface is shown. The surface has a texture 210, referred to as "orange peel" because its smoothness is similar to the surface of an orange fruit. A repaired area 220 includes a repaired defect 230. In some cases, repairing a defect may not necessarily require completely removing the defect, but may include grinding away the defect, smoothing the surface, or otherwise changing the defect so that it is less visible. Figure 2A As shown, a clear perimeter of the repaired area 220 is visible and may be visible to the human eye, which is undesirable. It is desirable to repair the defective area 220 without causing a noticeable interruption in the orange peel texture 210.

[0031] Figure 2B The haze on the repaired surface 240 is shown. Figure 2BAs shown, the haze may not be consistent across the entire surface, and in fact, the haze in one area 260 of the repaired area is typically higher than the haze in another area 250, resulting in a "bull's eye" appearance. The repair track used on the surface 240 ends in the area 260, which is why the "bull's eye" is located there. Based on the image provided in the repaired surface 240, the haze value can be quantified. For example, the average haze value H over the entire repaired area can be estimated as H = (1-(Li / 255)) x 100, where Li is the average light intensity value of the repaired area. The haze appearance of spot repairs with H < ~ 13 is invisible to the human eye.

[0032] Figure 2C A processed image of a repaired surface 270 is shown, which shows scratches 280 introduced to the surface during the repair process.

[0033] Defect repair generally involves first grinding the surface with a first abrasive article, such as a sanding pad, and then grinding the surface with a second abrasive article, such as a polishing pad or a buffing pad, impregnated with an abrasive compound (e.g., a polishing compound or abrasive grains). The first abrasive article is used to quickly reduce the height of the defect or to quickly remove material. The coarseness of the abrasive grains in the article generally determines the material removal rate. Generally, the higher the material removal rate, the coarser the scratch left behind. Therefore, a second, less aggressive abrasive medium (e.g., a buffing pad containing a polishing compound) is used to polish the surface and remove the scratch formed by the first abrasive article. However, if Figure 2B As shown, the polishing process removes scratches by grinding, which may leave many micro scratches that create a haze appearance. In the robotic process, this may also cause a gradient in the haze color, where a darker area appears at the end of the grinding track.

[0034] Figure 2D-1 and Figure 2D-2 A "pin wheel" or "hologram" haze pattern is shown, which may also result from the polishing step. Micro scratches can reduce the specular reflectivity of the surface by scattered light reflection and make the surface look hazy. It has been found that the haze appearance may form in a specific pattern and even become more obvious once an automated polishing tool is used. In manual operation, when the polishing process is performed by a person, the direction of the micro scratches is almost random. However, in the automated method using a simple trajectory (such as a spiral), the scratches are consistent with the spiral trajectory program used. This can be explained by the fact that the polishing tool mounted on the robot arm moves precisely along a predefined perfect geometric path, thereby increasing the probability of scratches forming in a specific direction. The pin wheel haze pattern can be clearly observed when we rotate the illuminating light around the surface or rotate the panel under fixed light.

[0035] However, other patterns may also have micro-scratch patterns that are consistent with the repair geometry. For example, a back-and-forth repair pattern may also result in a haze pattern that is consistent with the pattern.

[0036] Figure 2D-1 A schematic diagram of a polished area 242 having a pinwheel line 244 is shown, and Figure 2D-2 A buffed area 246 is shown with a pinwheel line 242. This type of defect is often referred to as a "hologram" defect because the pinwheel line 242 appears to move like a simple hologram as the viewer moves the viewing angle. In direct sunlight, normal haze may be difficult to see, but "pinwheel" haze may be highly visible.

[0037] Haze is generally an unacceptable surface appearance for most customers. Therefore, it is desirable to find systems and methods that can reduce the appearance of haze, including Figure 2B The “bull’s eye” haze of FIG. 2A and the “pin wheel” haze of FIG. 2B (or other patterns associated with the programmed trajectory).

[0038] Haze can be reduced by reducing the aggressiveness of the polishing or buffing step. However, this typically requires the use of a less aggressive polishing pad and / or polishing compound. In turn, such a less aggressive polishing may take a considerable amount of time to completely remove the sanding scratches resulting from the previous repair step. Since most vehicles have multiple defects that require repair, even a small increase in the cycle time per defect has a large impact on the overall per-vehicle repair time and reduces the number of vehicles that can be repaired per shift. In addition, increasing the polishing time may increase the internal temperature of the polishing pad, thereby shortening the life of the polishing pad. A solution is needed to adequately remove sanding scratches and ensure a minimum level of haze, but without significantly increasing the cycle time or shortening the life of the polishing pad.

[0039] FIG. 3A to FIG. 3B is a schematic diagram illustrating surface treatment operations in which embodiments herein may be practiced. FIG. 3A to FIG. 3B A simplified schematic diagram of an abrasive article 310 is shown moving along a planar surface 320 along a path 316. A polishing agent 322 is shown deposited on the surface 320. However, it should be noted that for many repair operations, particularly automotive repair, the surface has curvature and the robotic grinding unit ( Figure 3A 310 along the surface 320 using a mandrel 312. A force 318 is applied to the abrasive article 310 by, for example, a force control unit of a robotic grinding system, thereby pushing the abrasive article 310 toward the surface 320. In some embodiments, the abrasive article 310 is also rotated in a manner such as simple orbital rotation, random orbital rotation, vibration, or another motion mode.

[0040] Figure 3B A very simple spiral trajectory 350 with nine waypoints on a spiral path is shown. This is for illustrative purposes only, and other trajectories (straight line, orbital, figure 8, rose, trochoid, or any other suitable path shape) are expressly contemplated.

[0041] In the illustrated example, the path begins at a touchdown at point 360 where the abrasive article 310 contacts the surface. As shown in graph 370, at each point 359-351, the abrasive article 310 has a rotational velocity, a moving velocity (e.g., from 352 toward 351), and an applied force that forces the abrasive article 310 to contact the surface 320.

[0042] As shown in graph 370, multiple parameters may change along path 350. As used herein, the term "trajectory" refers to a time-parameterized path along waypoint 360 toward 351. At each point on the trajectory, the abrasive article is moving at a certain speed, exerting a force on the surface, and having a rotational (or orbital or random orbital or vibratory) velocity.

[0043] When the repair trajectory reaches the end point, the robotic arm would traditionally slow down as it approaches point 351 or settles into position at point 360. It is believed that this rotation in a fixed position can cause problematic haze.

[0044] FIG. 4A to FIG. 4C A single row scan array imaging system for curved surfaces is shown. To quantify and understand the haze, the haze is captured using an imaging system. Imaging on reflective surfaces presents challenges from glare, and imaging on curved surfaces also presents challenges due to varying distances.

[0045] However, although FIG. 4A to FIG. 4C One system that can be used to image haze is shown, but it is expressly contemplated that other suitable systems may be used. In addition, it is expressly contemplated that the systems and methods herein may be implemented in a robotic repair system without a vision system or feedback from a vision system. For example, a trajectory that reduces haze may be selected for any surface repair process that has defects in a location that is visible to the customer (e.g., on a hood).

[0046] FIG. 4A to FIG. 4CA single-row scanning array imaging system for curved surfaces is shown. In order for the single-row scanning array to obtain high-fidelity images, and for post-image processing and quantification, it is necessary to know that the sensing mechanism is in a known position - the distance and angle to the reflection point on the surface are known. The single-row scanning array must also maintain the correct angle relative to the surface being imaged. It is expected that there is a right angle perpendicular to the surface between the single-row scanning array and the light source. In some embodiments of the present invention, the distance sensor first passes through the working surface to obtain accurate distance and curvature information, and then the single-row scanning array is performed in a second pass. In the second pass, the single-row scanning array can be moved to achieve the desired position of the right angle perpendicular to the surface at each detected point. In other embodiments, the distance sensor is placed in front of the single-row scanning array. Based on feedback from the distance sensor, the position of the single-row scanning array relative to the working surface is adjusted in situ.

[0047] Figure 4A A schematic diagram of an imaging system 400 is shown imaging a surface 402. A single row scanning array 410 behind a lens 420 faces the surface 402, and the right angle between the array 410 and the light source 440 is orthogonal to the surface 402 at point 404 when the array 410 captures an image of the surface 402.

[0048] The imaging system 400 also includes a distance sensor or a distance sensor array. Since many vehicles have surfaces with curvature in more than one direction, it is important to have distance information of the shortest distance that the length of the array 410 will pass. As described above, in some embodiments, the distance sensor moves independently of the system 400, such as shown in sensor position 430b. In some embodiments, sensor position 430b represents the real-time position of the sensor relative to the system 400, which makes the sensor array move on the surface 402 in front of the system 400, as shown by arrow 406. Sensor position 430b shows an embodiment in which the sensor array moves independently of the system 400. However, it is clearly expected that the sensor array can be mechanically coupled to. However, in some embodiments, sensor position 430b indicates the movement of the sensor array during the first pass before the system 400 travels along path 406.

[0049] In some embodiments, the sensor array is mechanically coupled to the system 400, as shown by sensor position 430a, so that the sensor array travels along the path 406 in a fixed position relative to the system 400. With the sensor array in position 430a, the entire system 400 can be moved over the surface 402 in a first pass so that the distance sensor can capture an accurate topography of the surface 402, and then moved in a second pass so that the system 400 can capture an image of the surface 402.

[0050] As from FIG. 4A to FIG. 4B404, the orientation of the system 400 changes to maintain a right angle at the normal of the imaged point 404. Based on information from the position sensor array, the robotic arm or other mobile mechanism of the system 400 rotates and moves the system 400 to maintain the desired distance from the surface 402 and the desired orientation relative to the surface. For surfaces with zero Gaussian curvature, such as cylindrical surfaces, one sensor array is required. However, in embodiments with surfaces with non-zero Gaussian curvature, such as spherical surfaces, multiple sensor arrays may be used.

[0051] It is desirable to sand only as much as necessary to remove defects, polish sufficiently to achieve the desired surface finish, and manage equipment settings such as applied force, dwell time, and travel speed to reduce haze and scratches. The systems and methods herein provide helpful feedback for improved robotic control.

[0052] Figure 4C An imaging system according to an embodiment of the present invention is shown. Imaging system 470 is controlled by controller 480, which can receive instructions from an operator, such as using a keyboard as shown. However, in some embodiments, system 460 is automatically controlled by controller 480, such as based on information received from a distance / position sensor or another source. System 470 is an example of an imaging system capable of imaging and quantifying haze. System 470 is shown as an example of an imaging system fixed in place that can image a flat surface. However, as discussed herein, in some embodiments, the imaging system is designed to follow the curvature of a surface.

[0053] The single-row scanning array 470 images the surface 466, which in some embodiments moves relative to the system 460. However, in some embodiments, it is clearly contemplated that the work surface remains stationary while the system 460 is mobile. The light source 462 is directed toward the surface 466 so that the light is reflected toward the single-row scanning array 470.

[0054] An orientation component 464, shown as a curved track, may be used to maintain a desired orientation between the light source 462 and the single-row scanning array 470 while changing the orientation of the system 460 relative to the working surface 466. In embodiments where the surface 466 has a curvature, this helps maintain a desired orientation perpendicular to the right angle formed by one of the light sources 462 and the single-row scanning array 470. In the illustrated embodiment, the orientation component 464 operates independently to change the angle of the light source 462 and the imaging device 470 relative to the surface 466. This may be preferred because the optimal arrangement for displaying and characterizing defects may be different based on the optical properties of the surface as well as the light incidence angle and camera position.

[0055] Surprisingly, it was found that when rotating at a fixed position at the last point, the reduction in speed to the last point of the trajectory results in Figure 2B and Figure 2D-2 Figures 5A to 5B show the local haze patterns of the FIG. 4A to FIG. 4C system and images obtained using different polishing agents.

[0056] 5A-5B show the process parameters and results of the lapping operation described herein: 0.25 g K211 polishing compound (available from 3M Company), 28874 polishing pad (available from 3M Company), spiral track with 14 seconds total polishing time and 25N applied down force.

[0057] Most robotic polishing steps lower the buffing pad to the surface and begin rotating the buffing pad while moving the buffing pad in a specified path (track) over the surface to be repaired. This continues for a specified time, then the buffing pad stops moving in the track path, the article (e.g., buffing pad) speed (rpm) drops to zero, and the tool is lifted off the surface. This creates a concentrated area of ​​haze within the larger overall haze affected area, referred to herein as a "bull's eye," which is only clearly visible to the human eye at certain lighting angles. However, depending on the severity of the haze, this bull's eye can be very noticeable. In addition to the overall severity of the haze, there is a phenomenon called a "hologram," where the haze pattern is even more noticeable because micro scratches coincide with the track pattern, causing the haze to appear to move and increase in certain areas as the eye and lighting angle change, causing the haze pattern to appear holographic. This is probably the most problematic part of the haze, as it is very noticeable under very bright lighting, like sunlight, and appears to "move" or "dance" on the surface when the relative angle of the observer to the surface changes slightly.

[0058] We have found that by implementing certain custom robotic sanding trajectories, we can significantly reduce the bullseye and reduce the pinwheel effect. By gradually reducing the sanding pad speed to zero before stopping the trajectory, the pinwheel effect was significantly reduced. In a separate approach, lifting the sanding pad off the surface before stopping the trajectory has been shown to significantly reduce the bullseye.

[0059] Figure 5A-1 Shown in Figure 5A-2 The process conditions used to generate haze on the reflective surface are then used Figure 4C The system images the haze so that it is clearly visible. Surprisingly, the reduction in speed also reduces the pinwheel effect seen.

[0060] It was initially expected that changing the speed and / or force of contact would increase the likelihood of creating micro surface scratches, such as making haze conditions worse, as explained in more detail in Example 1. It was expected that slowing down the speed of the mineral-containing product against the surface would change the surface finish in a negative way, as similar results are known in handheld devices, as shown and explained in more detail in Example 1.

[0061] exist Figure 5A-1 In the 3D image above, some improvement in haze is seen as the rotation speed is reduced to zero. However, note that the hologram effect is significantly reduced.

[0062] like Figure 5B-2 As shown, it is shown that significantly reducing the force before the abrasive article reaches the end of the track improves the surface finish.

[0063] Reducing the applied force and / or the relative position of the abrasive article with respect to the surface (e.g., the final position of a moving robotic arm as a trajectory) resulted in a measurable improvement in surface finish. Reducing the rotational speed near the end of the trajectory not only reduced the haze, but also reduced the holographic effect on the surface. While any one of these changes provided an improvement, it was the combination of the reduction in speed and the reduction in applied force / relative position that provided the truly surprising results. As shown in FIG5B , when the rotational speed was reduced to zero and the applied force was significantly reduced, the haze was greatly reduced. Figure 5B-2 In the example shown, the force is reduced to a sufficient degree to lift the abrasive article from the surface. A similar effect can also be achieved by changing the relative position.

[0064] The change in the applied force can be achieved in one of two ways. In embodiments where the robotic grinding system has a force control unit, the applied force can be adjusted. In other embodiments, the relative position of the robotic arm relative to the surface being ground can be adjusted. In particular, for polishing operations, the polishing pad is pressed against the work surface. Changing the relative position of the robotic arm by moving the robotic arm away from the surface can result in a reduction in the applied force. In embodiments herein, either or both of these applied force adjustment operations can be used.

[0065] Figure 6 A schematic diagram of a surface treatment operation according to embodiments herein is shown. The final point 620 on the trajectory is shown in schematic diagram 600. It is desirable to ensure that sufficient time is spent buffing / polishing the surface to remove sanding scratches while achieving timely deceleration and / or lift-off to reduce haze remaining on the surface.

[0066] Different overall repair trajectories are suitable for different defects, as discussed, for example, in U.S. Provisional Patent Application Serial No. 17 / 756,444, filed on November 24, 2020, and PCT Publication No. WO 2022 / 038491, published on February 24, 2022. Once a trajectory is selected based on defect type, shape, and size, it is necessary to modify the trajectory to account for the initial defect removal step (e.g., sanding step) and include a customized deceleration process. For example, a post-sanding image of the defect area can be captured, and based on the success of the sanding operation, the polishing trajectory can be modified to increase or decrease the total grinding time or increase or decrease the grinding aggressiveness (e.g., rotation speed and applied force) to achieve the desired surface appearance.

[0067] Specifically, a portion of the trajectory can also be modified to solve the haze problem. Figure 6 As shown, the penultimate point 610 is calculated based on the time required to rapidly decelerate the rotational (or oscillatory, orbital or random orbital) speed of the abrasive article (e.g., the speed at which the abrasive article moves relative to the robotic arm). The speed may be reduced significantly, such as by more than 50%, more than 60%, more than 70%, more than 80%, more than 90%, or even completely to zero.

[0068] Additionally, or alternatively, the trajectory is modified to reduce the applied force by changing the z-axis position of the abrasive article relative to the surface being abraded and / or changing the applied force.

[0069] Distance 630 represents the time and / or distance required to perform the surface appearance trajectory modification. The surface appearance trajectory modification may be a rapid deceleration, lift-off / force reduction, or a combination of both.

[0070] Figure 7 A method of modifying a polish repair solution according to embodiments herein is shown. Method 700 can be performed in situ by a robotic controller based on the amount of material removed by a previous grinding step, based on a preferred surface appearance, and / or other specifications. For example, defects in different locations on a car can have different priorities based on visibility or vehicle color. For example, a black vehicle can have a lower haze tolerance than a white vehicle, and a defect on the hood of a vehicle can have a lower haze tolerance than a defect on the roof of the vehicle.

[0071] At block 710, a polishing repair solution is generated. The repair solution may be generated by selecting a trajectory 712 and a force profile 714 based on the desired polish (e.g., based on the amount of material removed during the sanding operation). The repair solution may be generated based on defect location, defect type, or other parameters. Other considerations 716 may also affect the repair solution.

[0072] At block 720, the repair solution is modified based on the surface appearance needs. In some embodiments, the surface appearance modification may include a speed reduction 722. In some embodiments, the surface appearance modification may include a reduction in the applied force and / or the z position of the abrasive article relative to the surface 724. In some embodiments, both the speed and the force / z position are modified 726. Other parameter modifications 728 may also be included.

[0073] At block 730, the repair solution is modified. The goal of method 700 is to maintain a short cycle time while achieving a desired surface appearance. Thus, while haze can be further reduced by lengthening the entire trajectory or by adding additional trajectory steps, it is desirable to achieve the desired surface appearance in a manner that produces minimal disruption to the cycle time. In some embodiments, the cycle time is increased by less than 20%, or even less than 10%.

[0074] Figure 8 A method of grinding a surface according to embodiments herein is shown. The method 800 can be used after an initial sanding step, after a polishing step, or after another grinding step to provide a desired surface appearance of the working surface.

[0075] A grinding or polishing step 810 is performed. The grinding step is accomplished by an abrasive article coupled to a robotic arm. The robotic arm moves the abrasive article according to a trajectory 812 and applies a suitable force profile 814 along the trajectory 812. The trajectory may have other parameters of interest 818, such as angle, rotation / orbit, random trajectory, or vibration speed, etc.

[0076] Transition 820 occurs between the polishing step 810 and the end 830 of the grinding operation. Figure 8 As shown, the operation may be completed when lifted from the surface 830. However, it is expressly contemplated that the abrasive article need not be completely separated from the work surface to consider the operation completed.

[0077] During transition step 820, the robot arm continues to follow trajectory 822, which can be the same as or a modified version of trajectory 812. For example, the speed on the work surface can increase or decrease as the trajectory approaches the end point. The applied force on the abrasive article and / or the z-axis position 824 of the abrasive article relative to the surface can be changed. By adjusting the force control unit or changing the z-axis position of the abrasive article relative to the work surface, the applied force can be reduced by 30%, or 40%, or 50%, or 60%, or 70%, or 80%, or 90%, or the abrasive article can be completely separated from the work surface. The rotational speed 826 (or orbital or random orbital speed) of the abrasive article can also be reduced by, for example, 50%, 60%, 70%, 80%, 90% or even 100%. Other parameter values ​​828 can also be adjusted to achieve a desired surface appearance.

[0078] It is noted that in the hands of a trained operator, handheld power tools can achieve force reduction and speed reduction. However, human operators are unable to consistently and repeatably reduce the applied force and / or reduce speed while maintaining an effective cycle time.

[0079] In some embodiments, transition step 820 is completed in less than 3 seconds, less than 2 seconds, or even less than 1 second.

[0080] Fig. 9 A robotic grinding system according to embodiments of the present invention is shown. The robotic grinding system 900 includes or is communicatively coupled to an imaging system 910 that uses an image capture device 912 to capture an image of a surface that a surface analyzer 950 uses to select a trajectory and generate a repair solution for detected defects. The imaging system 910 may have a moving mechanism 922 for bringing the imaging system close enough to the surface to image the surface, as well as other functions 924.

[0081] The image receiver 952 may receive images from the image capture device 912. The received images may be analyzed by an orange peel analyzer 954, which determines the level of orange peel around the repaired site prior to the grinding operation so that the repair can integrate the repaired surface with the surrounding un-grinded area and determine whether the integration was successful after the operation. The defect analyzer 954 may determine the type, size, and severity of defects to be repaired on the surface prior to the grinding operation, and determine whether the defects were adequately removed after the grinding operation. A haze evaluator 958 may be used after the grinding operation to determine whether the remaining haze is acceptable. A scratch evaluator 964 may be used to evaluate scratches between steps in the grinding operation, or scratches after the grinding operation is complete. The surface analyzer 950 may have other functions 966.

[0082] Based on the surface condition of the working surface 990, the trajectory generator 930 generates a modified trajectory based on a selected default repair trajectory (eg, selected based on results of a previous grinding operation or based on an initial analysis of the surface 990 before repair) to achieve a desired surface appearance condition.

[0083] The trajectory retriever 932 retrieves the initial trajectory, for example, from a database of trajectories (not shown) or from the controller 960 that generated the initial trajectory. The cycle time retriever 934 retrieves the cycle time of the retrieved trajectory and the cycle time limit of the defect repair. For example, it is expected that some defects will take longer to repair, and it may be preferable to increase the cycle time of a given defect rather than postpone solving the haze problem until after the defect repair. Based on the defect analysis, some defects are considered too large or too complex to be repaired. Similarly, it may be determined that the time spent solving the surface appearance problem is longer than the time allowed by the cycle time constraint, and therefore, the surface appearance repair step or the entire defect repair process may be postponed. The trajectory generator may also retrieve the surface appearance tolerance 938. For example, greater haze is acceptable depending on the surface color or the location of the repair area. For example, the roof of a truck may have a higher haze tolerance because the roof is rarely seen, while the hood of the same truck may have a lower haze tolerance because the hood is visible.

[0084] Trajectory modifier 940 determines the path distance 942 required to achieve the desired velocity reduction and / or force reduction associated with an acceptable haze appearance on work surface 990. Path distance 942 is selected so that there is sufficient distance (and therefore sufficient trajectory time) to achieve surface appearance modification while maintaining an effective cycle time for a given defect.

[0085] The surface appearance modification may include changing an applied force 944, such as a force applied by a force control unit 904. The surface appearance modification may include changing a z-axis position 946 of the abrasive article 902 relative to the working surface 990. The abrasive article 902 may be a compressible article such that changing the z-axis position of the contact point between the ends of the arms of the moving mechanism 906 may maintain a portion of the abrasive article 902 in contact with the working surface 990. The surface appearance modification may include reducing a speed 948 of the abrasive article 902. For example, as the abrasive article 902 moves toward the end of the trajectory, the rotational, orbital, random orbital, or vibrational speed may be reduced so that the abrasive article 902 moves at a slower speed or is stationary when the repair trajectory is completed. Other parameters 936 such as the angle of attack, the translation speed on the working surface 990, or other suitable parameters may also be adjusted by the trajectory modifier 940.

[0086] In some embodiments, the working surface 990 can have its own movement mechanism 994. The trajectory can include movement of both the movement mechanism 906 and / or the movement mechanism 994. For example, the working surface 990 can be a vehicle. The working surface 990 can have a curvature in one or more directions such that the movement mechanism 906 and / or the movement mechanism 994 causes the abrasive article 902 to follow the curvature of the working surface 990.

[0087] Fig.101000 is a robotic grinding system architecture. The surface processing system architecture 1000 shows one embodiment of a robotic grinding system 1070 that interacts with a trajectory generator 1010 that generates a trajectory suitable for grinding a surface to a desired surface appearance. However, although the trajectory generator 1010 is shown as being separate from the robotic grinding system 1070, it is expressly contemplated that a controller of the robotic grinding system 1070 may be incorporated into the robotic grinding system 1070.

[0088] As an example, the surface treatment system 1000 can provide computing, software, data access and storage services without requiring the end user to know the physical location or configuration of the system that delivers these services. In various embodiments, the remote server can deliver these services on a wide area network (such as the Internet) using appropriate protocols. For example, the remote server can deliver applications on a wide area network, and they can be accessed through a web browser or any other computing component.

[0089] Figures 1 to 9 The software or components shown or described herein and the corresponding data may be stored on a server at a remote location. The computing resources in a remote server environment may be consolidated at a remote data center location, or they may be dispersed. The remote server infrastructure may deliver services through a shared data center, even though they appear as a single access point for users. Therefore, the components and functions described herein may be provided from a remote server at a remote location using a remote server architecture. Alternatively, they may be provided by a conventional server, installed directly on a client device, or provided in other ways.

[0090] Fig.10 It is specifically shown that trajectory generator 1010 may be located at remote server location 1002. Thus, computing device 1020 accesses those systems through remote server location 1002. Operator 1050 may also use computing device 1020 to access user interface 1022.

[0091] Fig.10It is shown that it is also envisioned that some elements of the system described herein are set at the remote server location 1002, while other elements are not set at the remote server location. By way of example, storage devices 1030, 1040 or 1060 or robot systems 1070 can be set at a location separate from location 1002 and accessed by a remote server at location 1002. No matter where they are located, they can be directly accessed by computing devices 1020 through a network (wide area network or local area network), hosted by a service at a remote site, provided as a service, or accessed by a connection service residing in a remote location. Moreover, the data can be stored in substantially any location and can be intermittently accessed by interested parties or forwarded to interested parties. For example, physical carriers can be used instead of electromagnetic wave carriers, or in addition to electromagnetic wave carriers, physical carriers can also be used.

[0092] It should also be noted that the elements of the system described herein or their portions can be disposed on a variety of different devices. Some of these devices include servers, desktop computers, laptop computers, embedded computers, industrial controllers, tablet computers or other mobile devices, such as handheld computers, cellular phones, smart phones, multimedia players, personal digital assistants, etc.

[0093] Figure 11 to Figure 12 An example of a computing device that may be used in the embodiments shown in the previous figures is shown.

[0094] Fig.11 is a handheld device 1116 (e.g., Fig.10 1020) in which the system (or portion thereof) of the present invention may be deployed. For example, the mobile device may be deployed in an operator compartment of the computing device 920 for generating, processing or displaying data.

[0095] Fig.11 A general block diagram of the components of a client device 1116 that can run some of the components shown and described herein is provided. The client device 1116 interacts with these components, or runs some components and interacts with some components. In the device 1116, a communication link 1113 is provided, which allows the handheld device to communicate with other computing devices, and in some embodiments provides a channel for automatically receiving information (such as by scanning). Examples of communication links 1113 include allowing communication through one or more communication protocols, such as wireless services for providing cellular access to a network, and protocols for providing local wireless connections to a network.

[0096] In other examples, the application may be received on a removable secure digital (SD) card connected to the interface 1115. The interface 1115 and the communication link 1113 communicate with the processor 1117 (which may also be embodied as a processor) along a bus 1119, which is also connected to the memory 1121 and the input / output (I / O) components 1023, as well as the clock 1125 and the positioning system 1127.

[0097] In one embodiment, I / O components 1123 are provided to facilitate input and output operations, and the device 1116 may include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components such as display devices, speakers, and / or printer ports. Other I / O components 1123 may also be used.

[0098] Clock 1125 illustratively includes a real-time clock component that outputs time and date. It can also provide a timing function for processor 1117.

[0099] Illustratively, the positioning system 1127 includes components for outputting the current geographic location of the device 1116. The positioning system may include, for example, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning systems. It may also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions.

[0100] Memory 1121 stores operating system 1129, network settings 1131, applications 1133, application configuration settings 1135, data repository 1137, communication driver 1139, and communication configuration settings 1141. Memory 1121 may include all types of tangible volatile and non-volatile computer-readable memory devices. It may also include computer storage media (described below). Memory 1121 stores computer-readable instructions that, when executed by processor 1117, cause the processor to perform computer-implemented steps or functions according to these instructions. Processor 1117 may also be activated by other components to facilitate its functions.

[0101] Fig.12 is a block diagram of a computing environment that can be used in the embodiments shown in the previous figures.

[0102] Fig.12 is an example of a computing environment in which elements or (for example) portions of the systems and methods described herein may be deployed. Fig.12, an exemplary system for implementing some embodiments includes a general purpose computing device in the form of a computer 1210. Components of the computer 1210 may include, but are not limited to, a processing unit 1220 (which may include a processor), a system memory 1230, and a system bus 1221 that couples various system components including the system memory to the processing unit 1220. The system bus 1221 may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. The memories and programs described with respect to the systems and methods described herein may be deployed in Fig.12 in the corresponding part of .

[0103] Computer 1210 typically includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by computer 1210, and includes both volatile / non-volatile media and removable / non-removable media. By way of example and not limitation, computer-readable media can include computer storage media and communication media. Computer storage media is different from, and does not include, modulated data signals or carrier waves. Computer storage media include hardware storage media that include volatile / non-volatile and removable / non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by computer 1210. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transport mechanism, and include any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

[0104] The system memory 1230 includes computer storage media in the form of volatile and / or nonvolatile memory, such as read-only memory (ROM) 1231 and random access memory (RAM) 1232. A basic input / output system 1233 (BIOS), containing the basic routines that help to transfer information between elements within the computer 1210 (such as during startup), is typically stored in ROM 1231. RAM 1232 typically contains data and / or program modules that are immediately accessible to and / or currently being operated on by the processing unit 1220. By way of example, and not limitation, Fig.12 Operating system 1234 , application programs 1235 , other program modules 1236 , and program data 1237 are shown.

[0105] The computer 1210 may also include other removable / non-removable and volatile / non-volatile computer storage media. By way of example only, Fig.12 Shown is a hard disk drive 1241 that reads from or writes to a non-removable, non-volatile magnetic media, a non-volatile magnetic disk 1252, an optical drive 1255, and a non-volatile optical disk 1256. The hard disk drive 1241 is typically connected to the system bus 1221 through a non-removable memory interface, such as interface 1240, and the optical drive 1255 is typically connected to the system bus 1221 through a removable memory interface, such as interface 1250.

[0106] Alternatively or in addition, the functions described herein can be performed at least in part by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (e.g., ASICs), application specific standard products (e.g., ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), etc.

[0107] Discussed above and in Fig.12 The drives and their associated computer storage media shown in FIG. 1 provide storage of computer readable instructions, data structures, program modules and other data for the computer 1210. Fig.12 1244, application programs 1245, other program modules 1246, and program data 1247. Note that these components may be the same as or different from operating system 1234, application programs 1235, other program modules 1236, and program data 1237.

[0108] A user may enter commands and information into the computer 1210 through input devices such as a keyboard 1262, a microphone 1263, and a pointing device 1261 (such as a mouse, trackball, or touch pad). Other input devices (not shown) may include a joystick, a game pad, a satellite dish, a scanner, or the like. These and other input devices are typically coupled to the processing unit 1220 through a user input interface 1260 that is coupled to the system bus, but may be connected by other interfaces and bus structures. A visual display 1291 or other type of display device is also connected to the system bus 1221 via an interface such as a video interface 1290. In addition to the monitor, the computer may also include other peripheral output devices such as speakers 1297 and a printer 1296, which may be connected through an output peripheral interface 1295.

[0109] The computer 1210 operates in a networked environment with one or more remote computers, such as the remote computer 1280 , using logical connections, such as a local area network (LAN) or a wide area network (WAN).

[0110] When used in a LAN networking environment, the computer 1210 is connected to the LAN 1271 through a network interface or adapter 1270. When used in a WAN networking environment, the computer 1210 typically includes a modem 1272 or other means for establishing communications over the WAN 1273 (such as the Internet). In a networking environment, program modules may be stored in the remote memory storage device. For example, Fig.12 Remote application programs 1285 are shown as being residing on remote computer 1280 .

[0111] A method for repairing a defect on a surface is presented, the method comprising imaging the surface using an imaging system to locate the defect. The method also comprises selecting a first grinding trajectory for a first grinding operation based on an indication from the imaging system. The method also comprises performing the first grinding operation by contacting the surface with a first abrasive article. The first abrasive article is pressed into contact with the surface in the defect area by a robotic repair system. The method also comprises selecting a second trajectory for a second grinding operation. The second grinding operation comprises contacting the surface with a second abrasive article in the area of ​​the surface being ground. The second trajectory comprises one of the following: reducing the rotational, orbital, or random orbital speed of the abrasive article by at least 90% before reaching the end of the trajectory, reducing the applied force by at least 90% before reaching the end of the trajectory, or separating the abrasive article from the surface before reaching the end of the trajectory. The method also comprises actuating the robotic repair unit to perform the second trajectory.

[0112] The method may be implemented such that selecting the second trajectory includes retrieving a default grinding trajectory and generating a surface appearance modification of the default grinding trajectory. The generated surface appearance is generated based on the surface indication captured by the second imaging system. The method also includes calculating a path length required to perform the surface appearance modification such that the surface modification is performed before the trajectory reaches an end point. The method also includes generating the second trajectory by modifying the grinding trajectory to include the surface appearance modification.

[0113] The method can be implemented such that the surface appearance modification is selected from the group consisting of: reducing the rotational speed of the second abrasive article when in contact with the surface, reducing the orbital speed of the second abrasive article when in contact with the surface, reducing the random orbital speed of the second abrasive article when in contact with the surface, the vibration rate of the second abrasive article when in contact with the surface, the applied force on the second abrasive article when in contact with the surface, and the z-axis position of the arm end of the robotic repair system relative to the surface.

[0114] The method may be implemented such that the rotational velocity drops to zero, the orbital velocity drops to zero, the random orbital velocity drops to zero, or the vibration rate drops to zero before the endpoint.

[0115] The method may be implemented such that the applied force and / or z-axis position is reduced such that the abrasive article separates from the surface prior to the endpoint.

[0116] The method may be implemented such that the second imaging system is the first imaging system.

[0117] The method may be implemented such that the first imaging system is positioned on a robotic arm of a robotic repair system.

[0118] The method can be implemented such that the first abrasive article is a sanding disc and the second abrasive article is a polishing pad.

[0119] A method for modifying the surface appearance of a reflective surface is provided, the method comprising contacting an abrasive article with the reflective surface and moving the abrasive article along the reflective surface. The movement comprises a robotic arm moving the abrasive article at a translational speed from a starting point to an end point using an applied force. Prior to reaching the end point, the movement speed relative to the robotic arm is reduced by more than 50%.

[0120] The method may be implemented such that the moving speed is a rotational speed, an orbital speed, a random orbital speed, or a vibrating speed.

[0121] The method can be implemented such that the movement speed is reduced by more than 90%.

[0122] The method can be implemented such that the movement speed is reduced by more than 95%.

[0123] The method can be implemented to reduce movement speed by more than 99%.

[0124] The method may be implemented such that the effective force of the robotic arm on the abrasive article is reduced by more than 50% before reaching the endpoint.

[0125] The method may be implemented such that the effective force is the applied force generated by the force control unit.

[0126] The method may be implemented such that the effective force is generated by changing the position of the robotic arm relative to the reflective surface.

[0127] The method can be implemented such that the effective force is reduced by more than 90%.

[0128] The method may be implemented such that the effective force value decreases to a negative value.

[0129] A method for modifying the surface appearance of a reflective surface is provided, the method comprising contacting an abrasive article with the reflective surface, the method further comprising moving the abrasive article along the reflective surface. The movement comprises a robotic arm moving the abrasive article traveling at a translational speed from a starting point to an end point using an applied force. Prior to reaching the end point, the effective force exerted by the robotic arm on the abrasive article is reduced by more than 50%.

[0130] The method may be implemented such that the effective force is the applied force generated by the force control unit.

[0131] The method may be implemented such that the effective force is generated by changing the position of the robotic arm relative to the reflective surface.

[0132] The method can be implemented such that the effective force is reduced by more than 90%.

[0133] The method may be implemented such that the effective force value decreases to a negative value.

[0134] The method can be implemented such that the effective force is reduced to below 5 Newtons.

[0135] The method may be implemented such that the relative speed of the abrasive article relative to the robotic arm is reduced by more than 50% before reaching the endpoint.

[0136] The method may be implemented such that the moving speed is a rotational speed, an orbital speed, a random orbital speed, or a vibrating speed.

[0137] The method can be implemented such that the movement speed is reduced by more than 90%.

[0138] The method can be implemented such that the movement speed is reduced by more than 95%.

[0139] The method can be implemented to reduce movement speed by more than 99%.

[0140] A surface grinding system is proposed, which includes a robot arm with an end effector at the end of the robot arm. The end effector is configured to be connected to an abrasive article. The system also includes a moving mechanism that moves the robot arm relative to a surface. The system also includes a robot controller that causes the robot arm to execute a grinding track on the surface. The grinding track includes the abrasive article in contact with the surface. The robot controller includes a track retriever that retrieves the grinding track. The grinding track includes a surface appearance portion before the end point, and the surface appearance portion includes reducing the relative movement speed between the robot arm and the abrasive article or reducing the effective applied force on the abrasive article. The robot controller also includes a command generator that sends the grinding track to the moving mechanism to execute the track.

[0141] The system can be implemented such that a trajectory generator generates a surface appearance trajectory, the trajectory generator comprising: a default trajectory retriever that retrieves a default trajectory and a surface appearance tolerance retriever that retrieves a surface appearance tolerance, the surface appearance tolerance comprising an acceptable haze threshold. The trajectory generator also comprises a trajectory modifier that applies a trajectory modification to the default trajectory based on the surface appearance tolerance. The modified default trajectory is a grinding trajectory.

[0142] The system may be implemented such that the abrasive article is a compressible abrasive article.

[0143] The system may be implemented such that the trajectory modification is a change in the z-axis position of the end of the robot arm relative to the surface.

[0144] The system may be implemented such that the system further comprises a force control unit.The trajectory modification is a reduction in the applied force.

[0145] The system may be implemented such that the end effector is configured to rotate the abrasive article while the abrasive article is in contact with the surface.The trajectory modification is a reduction in the rotational speed of the abrasive article while the abrasive article is in contact with the surface.

[0146] The system may be implemented such that the end effector is configured to move the abrasive article in an orbital motion while the abrasive article is in contact with a surface.The trajectory modification is a reduction in the orbital speed of the abrasive article while the abrasive article is in contact with a surface.

[0147] The system may be implemented such that the end effector is configured to move the abrasive article in a random orbital motion while the abrasive article is in contact with a surface.The trajectory modification is a reduction in the random orbital velocity of the abrasive article while the abrasive article is in contact with a surface.

[0148] The system may be implemented such that the end effector is configured to cause the abrasive article to vibrate when the abrasive article is in contact with a surface. The trajectory modification is to reduce the vibration frequency of the abrasive article when the abrasive article is in contact with a surface.

[0149] The system may be implemented such that the end effector is configured to translate the abrasive article across the surface.The trajectory modification is a reduction in translation speed.

[0150] The system may be implemented such that the controller further comprises a cycle time retriever that retrieves a default cycle time for a default trajectory. The modified trajectory is within a cycle time tolerance of the default trajectory.

[0151] The system may be implemented such that the cycle time tolerance includes a modified cycle time between 100%-200% of the default cycle time.

[0152] The system may be implemented such that a default trajectory is retrieved based on defects identified on the surface.

[0153] The system may be implemented such that a default trajectory is retrieved based on a surface analysis of the surface.

[0154] The system can be implemented such that the lapping trajectory is a second lapping trajectory. The system also includes: a surface imaging system that images the surface after a first lapping operation using the first lapping trajectory has been completed; and a surface analyzer that generates a surface indication based on the surface imaging. The trajectory modification is based on the surface indication.

[0155] The system may be implemented such that the surface indication comprises a surface haze indication.

[0156] The system may be implemented such that the surface indication comprises a surface scratch severity indication.

[0157] The system may be implemented such that it comprises a display configured to display the trajectory.

[0158] The system may be implemented such that the surface includes a curvature. The trajectory includes adjusting a relative position of an end of the robotic arm relative to the surface such that the abrasive article follows the curvature.

[0159] A method for generating a trajectory for a grinding operation is presented, the method comprising selecting a default trajectory from a trajectory data repository using a trajectory retriever. The default trajectory comprises a time-parameterized path of travel of an abrasive article on a surface to be ground. The method further comprises retrieving a surface appearance tolerance of the surface. The method further comprises calculating a surface appearance modification of the default trajectory based on the surface appearance tolerance. The method further comprises generating a trajectory by modifying the time-parameterized path to accommodate the surface appearance modification. The surface appearance modification comprises changing a parameter of the default trajectory along the time-parameterized path. The method further comprises generating a command that, when received by a robotic grinding unit, causes the robotic grinding unit to execute the trajectory.

[0160] The method may be implemented such that generating the trajectory further comprises calculating a time period required to achieve the surface appearance modification, and modifying the trajectory such that the surface appearance modification is completed within the time period.

[0161] The method may be implemented such that the time period and the modified time parameterized travel path replace a portion of the trajectory.

[0162] The method may be implemented such that the replaced portion is at the end of the trajectory.

[0163] The method may be implemented such that the time period and the modified time-parameterized travel path are added to the trajectory.

[0164] The method may be implemented such that the default trajectory is based on surface analysis after a previous grinding operation.

[0165] The method may be implemented such that the default trajectory is based on surface defects identified on the surface.

[0166] The method may be implemented such that selecting the default trajectory further comprises selecting a default force profile for the default trajectory, and generating commands comprises generating force control commands for a force control unit of the robotic grinding unit to be executed in conjunction with the trajectory.

[0167] The method may be implemented such that the surface modification comprises a modified force profile.

[0168] The method may be implemented such that the modified force profile reduces the applied force by 90% before the end of the trajectory.

[0169] The method may be implemented such that the force profile becomes negative at the end of the trajectory.

[0170] The method may be implemented such that the default force profile has a maximum applied force. The modified force profile reduces the applied force to less than 10% of the maximum applied force at the end of the trajectory.

[0171] The method may be implemented such that the applied force is negative before the end of the trajectory.

[0172] The method may be implemented such that modifying the surface includes reducing a translational travel speed of the abrasive article along the surface.

[0173] The method may be implemented such that the robotic repair unit includes an end effector coupled to the abrasive article. The end effector is configured to move the abrasive article relative to the robotic repair unit during a grinding operation. The surface appearance modification is a reduction in relative movement speed.

[0174] The method may be implemented such that the reduction is a gradual reduction in speed over a period of time. The period of time ends at the end of the trajectory.

[0175] The method may be implemented such that the time period is part of a trajectory time period.

[0176] The method may be implemented such that the end effector rotates the abrasive article.

[0177] The method may be implemented such that the end effector moves the abrasive article in an orbital pattern.

[0178] The method may be implemented such that the end effector moves the abrasive article in a random orbital pattern.

[0179] The method may be implemented such that the end effector vibrates the abrasive article.

[0180] The method may be implemented such that the speed of translation of the abrasive article across the surface remains constant from default trajectory to trajectory during the time period.

[0181] A method for performing a grinding operation is presented, the method comprising retrieving an initial trajectory for a grinding operation on a surface using a trajectory retriever. The initial trajectory is part of a set of trajectories generated for the surface. The initial trajectory comprises a time-parameterized path along the surface of an abrasive article. The method further comprises generating a surface appearance modification of the initial trajectory based on a surface appearance parameter. The method further comprises modifying the initial trajectory using a trajectory modifier to include the surface appearance modification. The initial trajectory has a first portion and a second portion following the first portion. The surface appearance modification modifies the second portion. The method further comprises executing the modified trajectory using a robotic repair unit. The robotic repair unit causes the abrasive article to execute the modified trajectory along the surface.

[0182] The method may be implemented such that the surface appearance modification is a reduction of an applied force applied by a force control unit of the robotic repair unit.

[0183] The method may be implemented such that the surface appearance modification is a reduction in the speed of the abrasive article relative to the robotic repair unit.

[0184] The method may be implemented such that the translation speed of the abrasive article relative to the work surface remains constant.

[0185] The method may be implemented such that the relative motion of the abrasive article with respect to the robotic repair unit is rotational, orbital, random orbital, or linear motion.

[0186] The method may be implemented such that the surface appearance modification is a change in the relative position of an arm end of the robotic repair unit with respect to the surface.

[0187] The method may be implemented such that the surface appearance parameters are generated based on a surface analysis performed on the surface after a previous grinding operation.

[0188] The method may be implemented such that surface appearance parameters are generated based on defects detected on the surface.

[0189] The method may be implemented such that the surface appearance parameter is a tolerable haze threshold.

[0190] The method may be implemented such that the first portion of the trajectory remains unchanged.

[0191] The method may be implemented such that the second portion is modified such that the grinding parameters are changed in a stepwise manner.

[0192] The method may be implemented such that the second portion is modified such that the grinding parameters are gradually changed.

[0193] The method may be implemented such that the surface comprises curvature. The initial trajectory is retrieved based on the curvature.

[0194] Example

[0195] Example 1: Pneumatic sanding system

[0196] A pneumatic random orbital sander (ROS) is a simple pneumatic tool used for many applications, however, its primary use is to remove raw material and provide an acceptable surface finish regardless of the application. The application can be a simple one-step process or a complex progressive sanding application where the first step is completed using a strongly graded abrasive, followed by subsequent steps using finer abrasives until the desired finish is achieved.

[0197] The functionality of a pneumatic ROS is dependent upon providing it with clean, dry compressed air at the proper pressure and volume, as well as regular preventative maintenance such as oiling. To achieve the proper rpm, the 3M ROS needs to be supplied with 90 psi of compressed air through a 3 / 8” ID air line. It is critical to measure the air pressure at the tool when the throttle valve is actuated and the sanding system is not in contact with the substrate being sanded. NOTE: To limit the possibility of an adverse pressure drop, the air line length should be less than 25 feet.

[0198] The pressure and volume of compressed air has a direct impact on the rpm that a pneumatic sander can produce. Therefore, it can be inferred that when the proper rpm is not achieved, there will be an impact on the surface finish. Surface finish is defined as the measure of all the minor surface irregularities present after abrading the substrate. There are many different surface finish parameters, however, the two most relevant (especially as it relates to paint applications) are Ra and Rz. Definitions of these parameters can be found at various sites on the internet (see attached example: https: / / www.taylor-hobson.com / resource-center / blog / 2020 / october / what-is-surface-finish-and-types-of-surface-finish-parameters). Surface finish can be affected by other factors such as the operator, the type of disc pad selected, the construction of the abrasive article, etc. However, when all factors except the air pressure are held constant, a test can be performed to show how the surface changes with air pressure.

[0199] Assuming 90 psi dynamic air pressure as a target, studies have shown that as air pressure is reduced (equivalent to less rpm), the surface finish generally tends to become rougher. The slowing down of the grinding system provides an opportunity for the abrasive article to have more time to interact with the substrate, thus creating a deeper, more aggressive scratch pattern. When these more aggressive scratches are applied, they tend to exist as secondary defects from the grinding process. Common terms for these secondary defects are as follows: "natural scratches, sanding scratch relief, faded spots, etc." As an example in a proposed study, a substrate is ground with P120 abrasive, where the dynamic air pressure is set at 90 psi. Surface finish measurements are then taken. The same grinding system is used, however, the air pressure is reduced to 70 psi and a separate area on the same substrate is ground with a new P120 abrasive from the same batch of material. Surface finish measurements are then taken. Comparison of the parameter measurements was as follows: Ra = 11.4% more aggressive finish at 70 psi, Rz = 22.2% more aggressive finish at 70 psi, Rmax = 17.3% more aggressive finish at 70 psi. Note: In this case, the tool rpm variation measured was determined to be approximately 1000 rpm. Although the significance of the surface finish variation was not determined, the significance of this exercise is to highlight the effects that the proper operation of the pneumatic random orbital may introduce into a customer operation.

[0200] Example 2

[0201] Control spiral (comparative example)

[0202] The industrial robot arm is equipped with a 3M active compliance tool (6530, 3M Company, St. Paul, Minnesota) and a 3M servo random track buffer motor (77540, 3M Company, St. Paul, Minnesota) at the end of the arm. The buffer motor is directly attached to the active compliance tool. A support pad (20350, 3M Company, St. Paul, Minnesota) is attached to the end of the servo motor. A polishing pad (28874, 3M Company, St. Paul, Minnesota) is attached to the end of the support pad. A painted plate (57080 black painted plate, ACT Test Panels LLC, Hillsdale, Michigan) is arranged on a tabletop about 125 mm from the polishing pad.

[0203] Approximately 0.3 g of polish (K211 polish, 3M Company, St. Paul, Minnesota) was placed on the painted board just below the polishing pad. The planned path was sent from the computer to the robot. The polishing pad was pressed against the board with a downward force of 25 N. The servo motor was rotated to 8500 rpm and a spiral motion in the XY plane of the painted board was started at the same time. The spiral started with a radius of 5 mm and spiraled outward to a radius of 20 mm at a lateral speed of 0.05 m / s, with a total spiral time of 14 seconds. After the lateral speed reached zero, the servo motor rpm dropped to zero. The robot then lifted the polishing pad off the surface of the painted board.

[0204] The residual polish on the painted panel was wiped off using a wipe cloth (3M Detailing Cloth 39016, 3M Company, St. Paul, Minnesota). The resulting polished surface was analyzed using the system illustrated and described in U.S. Provisional Patent Application No. 63 / 363056 filed on April 15, 2022.

[0205] The average haze value H over the entire repaired area can be estimated using the following formula:

[0206] H=(1-(Li / 255))x100

[0207] Where Li is the average light intensity of the repaired area. The haze value is shown in Figure 5A-1 in the “Control” section.

[0208] Example 2A: Down to 0 rpm

[0209] The industrial robot arm is equipped with a 3M active compliance tool (6530, 3M Company, St. Paul, Minnesota) and a 3M servo random track buffer motor (77540, 3M Company, St. Paul, Minnesota) at the end of the arm. The buffer motor is directly attached to the active compliance tool. A support pad (20350, 3M Company, St. Paul, Minnesota) is attached to the end of the servo motor. A polishing pad (28874, 3M Company, St. Paul, Minnesota) is attached to the end of the support pad. A painted plate (57080 black painted plate, ACT Test Panels LLC, Hillsdale, Michigan) is arranged on a tabletop about 125 mm from the polishing pad.

[0210] Approximately 0.3 g of polish (K211 polish, 3M Company, St. Paul, Minnesota) was placed on the painted board just below the polishing pad. The planned path was sent from the computer to the robot. The polishing pad was pressed against the board with a downward force of 25 N. The servo motor was rotated to 8500 rpm and a spiral motion in the XY plane of the painted board was started at the same time. The spiral started with a radius of 5 mm and spiraled outward to a radius of 20 mm at a lateral speed of 0.05 m / s, with a total spiral time of 14 seconds. The servo motor rpm dropped to zero before the lateral speed reached zero. The robot then lifted the polishing pad off the surface of the painted board.

[0211] The residual polish on the painted panel was wiped off using a wipe cloth (3M Detailing Cloth 39016, 3M Company, St. Paul, Minnesota). The resulting polished surface was analyzed using the system illustrated and described in U.S. Provisional Patent Application No. 63 / 363056 filed on April 15, 2022. The haze value was calculated using the above formula and is shown in Figure 5A-1 in the "0 rpm step".

[0212] Example 2B: Lift-off

[0213] The industrial robot arm is equipped with a 3M active compliance tool (6530, 3M Company, St. Paul, Minnesota) and a 3M servo random track buffer motor (77540, 3M Company, St. Paul, Minnesota) at the end of the arm. The buffer motor is directly attached to the active compliance tool. A support pad (20350, 3M Company, St. Paul, Minnesota) is attached to the end of the servo motor. A polishing pad (28874, 3M Company, St. Paul, Minnesota) is attached to the end of the support pad. A painted plate (57080 black painted plate, ACT Test Panels LLC, Hillsdale, Michigan) is arranged on a tabletop about 125 mm from the polishing pad.

[0214] Approximately 0.3 g of polish (K211 polish, 3M Company, St. Paul, Minnesota) was placed on the painted board just below the polishing pad. The planned path was sent from the computer to the robot. The polishing pad was pressed against the board with a downward force of 25 N. The servo motor was rotated to 8500 rpm and a spiral motion in the XY plane of the painted board was started at the same time. The spiral started with a radius of 5 mm and spiraled outward to a radius of 20 mm at a lateral speed of 0.05 m / s. After 12.5 seconds of spiral motion, the robot lifted the polishing pad off the surface of the painted board. The spiral motion continued for 1.5 seconds above the surface of the painted board, and then the servo motor rpm dropped to zero.

[0215] The residual polish on the painted panel was wiped off using a wipe cloth (3M Detailing Cloth 39016, 3M Company, St. Paul, Minnesota). The resulting polished surface was analyzed using the system illustrated and described in U.S. Provisional Patent Application No. 63 / 363056 filed on April 15, 2022. The haze value was calculated using the above formula and is shown in Figure 5A-1 In the "lifting away".

[0216] Example 2C: Lift-off and drop to 0 RPM using K211

[0217] The industrial robot arm is equipped with a 3M active compliance tool (6530, 3M Company, St. Paul, Minnesota) and a 3M servo random track buffer motor (77540, 3M Company, St. Paul, Minnesota) at the end of the arm. The buffer motor is directly attached to the active compliance tool. A support pad (20350, 3M Company, St. Paul, Minnesota) is attached to the end of the servo motor. A polishing pad (28874, 3M Company, St. Paul, Minnesota) is attached to the end of the support pad. A painted plate (57080 black painted plate, ACT Test Panels LLC, Hillsdale, Michigan) is arranged on a tabletop about 125 mm from the polishing pad.

[0218] Approximately 0.3 g of polish (K211 polish, 3M Company, St. Paul, Minnesota) is placed on the painted board just below the polishing pad. The planned path is sent from the computer to the robot. The polishing pad is pressed against the board with a downward force of 25 N. The servo motor is rotated to 8500 rpm and a spiral motion in the XY plane of the painted board is started at the same time. The spiral starts with a radius of 5 mm and spirals outward to a radius of 20 mm at a lateral speed of 0.05 m / s. After 12.2 seconds, a command is issued to reduce the servo motor rpm to zero. The motor rpm is slowed down to about 4250 rpm, and then the robot lifts the polishing pad off the surface of the painted board after about 12.5 seconds. The spiral motion continues for 1.5 seconds above the surface of the painted board.

[0219] The residual polish on the painted panel was wiped off using a wipe cloth (3M Detailing Cloth 39016, 3M Company, St. Paul, Minnesota). The resulting polished surface was analyzed using the system illustrated and described in U.S. Provisional Patent Application No. 63 / 363056 filed on April 15, 2022. The haze value was calculated using the above formula and is shown in Figure 5B-1 in the "K211" column.

[0220] Example 2D: Combination of lift-off and reduction to 0 rpm using 315 polish

[0221] The industrial robot arm is equipped with a 3M active compliance tool (6530, 3M Company, St. Paul, Minnesota) and a 3M servo random track buffer motor (77540, 3M Company, St. Paul, Minnesota) at the end of the arm. The buffer motor is directly attached to the active compliance tool. A support pad (20350, 3M Company, St. Paul, Minnesota) is attached to the end of the servo motor. A polishing pad (28874, 3M Company, St. Paul, Minnesota) is attached to the end of the support pad. A painted plate (57080 black painted plate, ACT Test Panels LLC, Hillsdale, Michigan) is arranged on a tabletop about 125 mm from the polishing pad.

[0222] Approximately 0.3 g of polish (315 polish, 3M Company, St. Paul, Minnesota) is placed on the painted board just below the polishing pad. The planned path is sent from the computer to the robot. The polishing pad is pressed against the board with a downward force of 25 N. The servo motor is rotated to 8500 rpm and a spiral motion in the XY plane of the painted board is started at the same time. The spiral starts with a radius of 5 mm and spirals outward to a radius of 20 mm at a lateral speed of 0.05 m / s. After 12.2 seconds, a command is issued to reduce the servo motor rpm to zero. The motor rpm is slowed down to about 4250 rpm, and then the robot lifts the polishing pad off the surface of the painted board after about 12.5 seconds. The spiral motion continues for 1.5 seconds above the surface of the painted board.

[0223] The residual polish on the painted panel was wiped off using a wipe cloth (3M Detailing Cloth 39016, 3M Company, St. Paul, Minnesota). The resulting polished surface was analyzed using the system illustrated and described in U.S. Provisional Patent Application No. 63 / 363056 filed on April 15, 2022. The haze value was calculated using the above formula and is shown in Figure 5B-1 in the "315" column.

Claims

1. A method for repairing a defect on a surface, the method comprising: imaging the surface using an imaging system to locate the defect; selecting a first grinding trajectory for a first grinding operation based on the indication from the imaging system; performing the first abrasive operation by contacting the surface with a first abrasive article, wherein the first abrasive article is pressed into contact with the surface in the defective area by a robotic repair system; A second trajectory is selected for a second grinding operation, wherein the second grinding operation includes contacting the surface with a second abrasive article in an area of ​​the surface being ground, and wherein the second trajectory includes one of: reducing the rotational speed, orbital speed, or random orbital speed of the abrasive article by at least 90% before reaching the end of the trajectory; reducing the applied force by at least 90% before reaching the end of the trajectory; or separating the abrasive article from the surface before reaching the end of the trajectory; The robotic repair unit is actuated to execute the second trajectory.

2. The method of claim 1 , wherein selecting the second trajectory comprises: Retrieve the default grinding trajectory; generating a surface appearance modification of the default grinding trajectory, wherein the generated surface appearance is generated based on a surface indication captured by a second imaging system; calculating a path length required to perform the surface appearance modification so that the surface modification is performed before the trajectory reaches an end point; as well as The second trajectory is generated by modifying the grinding trajectory to include the surface appearance modification.

3. The method of claim 2, wherein the surface appearance modification is selected from the group consisting of: reducing the rotational speed of the second abrasive article while in contact with the surface; reducing the orbital speed of the second abrasive article while in contact with the surface; reducing a random orbital velocity of the second abrasive article while in contact with the surface; a vibration rate of the second abrasive article when in contact with the surface; an exerted force on the second abrasive article when in contact with the surface; as well as The z-axis position of the tip of the arm of the robotic repair system relative to the surface.

4. The method according to claim 3, wherein: Prior to the endpoint, the rotational velocity drops to zero, the orbital velocity drops to zero, the random orbital velocity drops to zero, or the oscillation rate drops to zero.

5. The method of claim 3, wherein the applied force and / or the z-axis position is reduced such that the abrasive article separates from the surface prior to the endpoint. The method of claim 1 , wherein the second imaging system is the first imaging system.

7. The method of claim 1, wherein the first imaging system is positioned on a robotic arm of the robotic repair system.

8. The method of claim 1, wherein the first abrasive article is a sanding disc and the second abrasive article is a polishing pad.

9. A method of modifying the surface appearance of a reflective surface, the method comprising: contacting the abrasive article with the reflective surface; moving the abrasive article along the reflective surface, wherein the moving comprises a robotic arm moving the abrasive article traveling at a translational speed from a starting point to an end point using an applied force; and Before reaching the end point, the moving speed relative to the robot arm is reduced by more than 50%.

10. The method of claim 9, wherein the moving speed is a rotational speed, an orbital speed, a random orbital speed, or a vibration speed.

11. The method according to claim 9 or 10, wherein the movement speed is reduced by more than 90%.

12. The method of claim 9 or 10, wherein the movement speed is reduced by more than 95%.

13. The method of claim 9 or 10, wherein the movement speed is reduced by more than 99%.

14. The method according to any one of claims 9 to 13, wherein: Prior to reaching the endpoint, the effective force of the robotic arm on the abrasive article decreases by more than 50%.

15. The method of claim 14, wherein the effective force is an applied force generated by a force control unit.

16. The method of claim 14, wherein the effective force is generated by changing the position of the robotic arm relative to the reflective surface.

17. A method according to any one of claims 14 to 16, wherein the effective force is reduced by more than 90%.

18. A method according to any one of claims 14 to 16, wherein the effective force value is reduced to a negative value.

19. A method of modifying the surface appearance of a reflective surface, the method comprising: contacting the abrasive article with the reflective surface; moving the abrasive article along the reflective surface, wherein the moving comprises a robotic arm moving the abrasive article traveling at a translational speed from a starting point to an end point using an applied force; and wherein the effective force exerted by the robotic arm on the abrasive article is reduced by more than 50% prior to reaching the endpoint.

20. The method of claim 19, wherein the effective force is an applied force generated by a force control unit.

21. The method of claim 19, wherein the effective force is generated by changing the position of the robotic arm relative to the reflective surface.

22. A method according to any one of claims 19 to 21, wherein the effective force is reduced by more than 90%.

23. The method of any one of claims 19 to 21, wherein the effective force value decreases to a negative value.

24. A method according to any one of claims 19 to 21, wherein the effective force is reduced to below 5 Newtons.

25. The method according to any one of claims 19 to 24, wherein: Prior to reaching the endpoint, the relative speed of the abrasive article relative to the robotic arm is reduced by more than 50%.

26. The method of claim 25, wherein the moving speed is a rotational speed, an orbital speed, a random orbital speed, or a vibration speed.

27. The method of claim 25, wherein the speed of movement is reduced by more than 90%.

28. The method of claim 25, wherein the speed of movement is reduced by more than 95%.

29. The method of claim 25, wherein the speed of movement is reduced by more than 99%.

30. A surface grinding system, comprising: a robotic arm having an end effector on an end of the robotic arm, wherein the end effector is configured to couple to an abrasive article; a movement mechanism that moves the robotic arm relative to a surface; and a robotic controller that causes the robotic arm to perform an abrasive trajectory on the surface, wherein the abrasive trajectory includes the abrasive article in contact with the surface, and wherein the robotic controller includes: a trajectory retriever that retrieves an abrasive trajectory, wherein the abrasive trajectory includes a surface appearance portion before an end point, and wherein the surface appearance portion includes reducing a relative movement speed between the robot arm and the abrasive article or reducing an effective applied force on the abrasive article; and A command generator sends the grinding trajectory to the moving mechanism to execute the trajectory.

31. The system of claim 30, wherein the surface appearance trajectory is generated by a trajectory generator, the trajectory generator comprising: a default trajectory retriever, the default trajectory retriever retrieves a default trajectory; a surface appearance tolerance retriever that retrieves surface appearance tolerances, the surface appearance tolerances including an acceptable haze threshold; A trajectory modifier applies a trajectory modification to the default trajectory based on the surface appearance tolerance, wherein the modified default trajectory is the grinding trajectory.

32. A system according to claim 30 or 31, wherein the trajectory modification is a change in the z-axis position of the end of the robotic arm relative to the surface.

33. The system of any one of claims 30 to 32, wherein the system further comprises a force control unit, and wherein the trajectory modification is a reduction in the applied force.

34. A system according to any one of claims 30 to 33, wherein the end actuator is configured to rotate the abrasive article while the abrasive article is in contact with the surface, and wherein the trajectory modification is to reduce the rotational speed of the abrasive article while the abrasive article is in contact with the surface.

35. A system according to any one of claims 30 to 34, wherein the end actuator is constructed to move the abrasive article in an orbital motion when the abrasive article contacts the surface, and wherein the trajectory modification is to reduce the orbital speed of the abrasive article when the abrasive article contacts the surface.

36. A system according to any one of claims 30 to 35, wherein the end actuator is configured to move the abrasive article in a random orbital motion when the abrasive article contacts the surface, and wherein the trajectory modification is to reduce the random orbital speed of the abrasive article when the abrasive article contacts the surface.

37. A system according to any one of claims 30 to 36, wherein the end actuator is constructed to cause the abrasive article to vibrate when the abrasive article contacts the surface, and wherein the trajectory modification is to reduce the vibration frequency of the abrasive article when the abrasive article contacts the surface.

38. The system of any one of claims 30 to 37, wherein the end effector is configured to translately move the abrasive article over the surface, and wherein the trajectory modification is a reduction in translation speed.

39. The system of any one of claims 30 to 38, wherein the controller further comprises a cycle time retriever that retrieves a default cycle time for the default trajectory, and wherein the modified trajectory is within a cycle time tolerance of the default trajectory.

40. The system of any one of claims 30 to 39, wherein the default trajectory is retrieved based on a surface analysis of the surface and wherein the grinding trajectory is a second grinding trajectory, and wherein the system further comprises: a surface imaging system that images the surface after a first lapping operation using a first lapping track has been completed; a surface analyzer that generates a surface indication based on the surface imaging; and Wherein the trajectory modification is based on the surface indication.

Images