System and method for health monitoring of a sanding pad during an autonomous finishing process

A system comprising:

• a sanding head coupled to a set of actuators arranged adjacent a work zone;
• a force sensor:
• coupled to the sanding head;
• and
• configured to output a signal representing torque applied by the sanding head to a workpiece occupying the work zone;
• and
• a controller configured to:
• during a processing cycle:
• access a sequence of torque values output by the force sensor:
• via the set of actuators, navigate the sanding head across the workpiece;
• detect an increase in torque values, in the sequence of torque values, exceeding a threshold torque;
• and
• interpret a first sanding pad on the sanding head as exhibiting a grit specification falling below a target grit specification based on the increase in torque values;
• and
• in response to interpreting the first sanding pad as exhibiting the grit specification falling less than the target grit specification, initiate a first pad replacement cycle for replacement of the first sanding pad on the sanding head.

A system comprising:

• a sanding head coupled to a set of actuators arranged adjacent a work zone;
• a force sensor:
• coupled to the sanding head;
• and
• configured to output a signal representing torque applied by the sanding head to a workpiece occupying the work zone;
• and
• a controller configured to:
• during a processing cycle:
• access a sequence of torque values output by the force sensor:
• via the set of actuators, navigate the sanding head across the workpiece;
• detect a decrease in torque values, in the sequence of torque values, falling less than a threshold torque;
• and
• interpret a first sanding pad on the sanding head as exhibiting a grit specification exceeding a target grit specification based on the decrease in torque values;
• and
• in response to interpreting the first sanding pad as exhibiting the grit specification exceeding the target grit specification, initiate a first pad replacement cycle for replacement of the first sanding pad on the sanding head.