Robotic polishing system and method for using same

A method for cleaning a tool head of an end effector for a robotic polishing system, the method comprising:

• identifying a calibration requirement for the tool head, the tool head extending between and to an inner end and a tip end, the tool head including an abrasive belt, a belt tensioner, a roller, and one or more first artifacts, the abrasive belt disposed on the belt tensioner and the roller, the belt tensioner including a tool guide, a tool extension, and a biasing member, the tool guide disposed at the inner end, the tool extension disposed at the tip end, and the biasing member configured to bias the tool extension outward from the tool guide, the roller rotatable about a tool center point of the tool head at the tip end;
• identifying a cleaning requirement for the tool head;
• cleaning the tool head by moving the tool head to engage at least one brush of a tool cleaning assembly;
• and
• acquiring image data of the tool head subsequent to cleaning the tool head.

A polishing system comprising:

• a robotic polishing assembly including an end effector, the end effector including a tool head, the tool head extending between and to an inner end and a tip end, the tool head including an abrasive belt, a belt tensioner, and a roller, the abrasive belt disposed on the belt tensioner and the roller, the belt tensioner including a tool guide, a tool extension, and a biasing member, the tool guide disposed at the inner end, the tool extension disposed at the tip end, and the biasing member configured to bias the tool extension outward from the tool guide, the tool extension including a first lateral side and a second lateral side, the roller rotatable about a tool center point of the tool head at the tip end;
• and
• a calibration system including an imaging device;
• a belt cleaning assembly including a first lateral arm portion and a second lateral arm portion, the first lateral arm portion laterally spaced from the second lateral arm portion, the first lateral arm portion including a first lateral brush and a first lateral air nozzle, the second lateral arm portion including a second lateral brush and a second lateral air nozzle;
• and
• a controller in signal communication with the robotic polishing assembly and 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:
• identify a cleaning requirement for the tool head;
• control the robotic polishing assembly to clean the tool head by moving the tool head to engage one or both of the first lateral brush and the second lateral brush;
• and
• control the first lateral air nozzle to direct a first stream of pressurized air at the first lateral side and then control the second lateral air nozzle to direct a second stream of pressurized air at the second lateral side.