Systems and methods for processing a worksurface

A repair plan generation system for a defect on a worksurface, the system comprising:

• a surface sampling receiver that receives a surface topography of the worksurface;
• a defect indication receiver that receives an indication of a defect on the worksurface;
• a process constraint receiver that receives parameter constraints for a robotic repair unit;
• a trajectory modifier that modifies a trajectory template, wherein the trajectory modifier comprises a transformer that transforms the trajectory template into a transformed trajectory, based on the surface topography;
• a repair plan generator that generates a repair plan based on the transformed trajectory and comprises, along the transformed trajectory, sets process conditions, the repair plan generator comprising:
• a force modulator that sets an applied force of a tool on the worksurface;
• a velocity modulator that sets a velocity at which the tool moves across the worksurface;
• a tool speed modulator that sets a rotational speed of the tool;
• and
• a control signal generator that communicates the generated repair plan to a robot controller that automatically implements the repair plan and completes a defect repair based on the repair plan.

A method of removing material from a worksurface, the method comprising:

• identifying a target area on the worksurface for material removal;
• sampling a surface around the target area on the worksurface;
• modeling the surface and, based on the model, detecting a surface topography;
• modifying a surface processing trajectory, using a transformer, based on the detected surface topography, wherein the transformed surface processing trajectory comprises a continuous curve through a series of waypoints;
• generating a repair plan comprising, at each of the waypoints:
• an applied force;
• a velocity;
• a rotational tool speed of a tool;
• and
• a tool angle with respect to the worksurface;
• and
• transmitting a control signal to a robotic material removal system, wherein the control signal comprises the repair plan.