Systems and methods for sanding a surface of a structure

A system for sanding a surface of a structure, the system comprising:

• a sanding tool comprising an abrasive surface;
• a robotic manipulator coupled to the sanding tool and configured to move the sanding tool relative to the structure;
• and
• a control unit operatively coupled with the sanding tool and the robotic manipulator, wherein the control unit is operable to:
• move the sanding tool to a sanding position relative to the surface of the structure using the robotic manipulator, in which the abrasive surface is in contact with the surface and a sanding force, applied to the surface of the structure by the sanding tool, is approximately normal to the surface;
• set one or more sanding parameters corresponding to a model material removal rate;
• monitor one or more of the sanding parameters when the sanding tool is in the sanding position;
• determine an actual material removal rate, based on one or more of the sanding parameters being monitored;
• and
• modify one or more of the sanding parameters until the actual material removal rate is approximately equal to the model material removal rate based on a comparison of the actual removal rate and the model material removal rate.