Robotic polishing system and method for using same

A polishing system comprising:

• an end effector including a polishing arm, a motor, and a tool head, the polishing arm including a calibration panel, the calibration panel including a calibration surface, the motor mounted at a distal end of the polishing arm, the tool head extending along a lengthwise axis between and to an inner end and a tip end, the inner end disposed on the polishing arm at the motor, the tool head including a belt tensioner and a roller, the belt tensioner configured to bias the tip end outward from the inner end along the lengthwise axis, the roller rotatable about a tool center point of the tool head at the tip end, the tool head configured to retain an abrasive belt extending between the motor and the roller;
• a calibration system including an imaging device and a laser device;
• and
• a controller in signal communication with the calibration system, the controller including a processor in communication with a non-transitory memory storing instructions, which instructions when executed by the processor, cause the processor to:
• control the laser device to project a second laser image on the calibration surface,
• control the imaging device to acquire image data for the tool head, the image data including the second laser image;
• control the imaging device to acquire the image data including the second laser image, and identify the position of the tool center point using the image data;
• identify a position of the tool center point using the image data;
• and
• store the identified position of the tool center point in the memory as a calibration position of the tool center point.