Wiping processes in robotic paint repair

A robotic paint repair system comprising:

• a force control unit;
• a first tool system comprising a first end effector coupled to a first tool configured to contact a workpiece;
• a second tool system comprising a second end effector coupled to a second tool configured to contact the workpiece;
• a fluid removal tool comprising a wiping medium, the fluid removal tool being coupled to a motive robot arm, wherein the fluid removal tool is configured to remove fluid from the workpiece;
• and
• wherein in a first state, the first tool is in position to contact and prepare the object surface and, in a second state, the second tool in position to contact and prepare the workpiece, in a third state, the fluid removal tool is in position to contact the workpiece;
• wherein the motive robot arm is configured to move the wiping medium toward, or away from, a worksurface and wherein the motive arm is configured to press the wiping medium toward the worksurface during a wiping operation and wherein, during the wiping operation, the wiping medium is driven by a wiping motor against the surface.

A method of repairing a workpiece, the method comprising:

• contacting the workpiece using a first tool, wherein the first tool is attached to a first end effector aligned to process the workpiece surface, wherein the first end effector is coupled to a first force control unit mounted to an end-of-arm portion of a robotic repair unit, wherein the first tool is an abrasive tool;
• removing fluid from the workpiece, using a fluid removal tool coupled to the robotic repair unit, wherein the fluid removal tool is a wiping medium, and wherein the wiping medium comprises an absorbent material;
• and
• contacting the workpiece using a second tool, wherein the second tool is a second abrasive tool.