Abrasive articles and systems

A method of abrading a workpiece with a robotic abrading system, comprising:

• driving an abrasive article with a tool, wherein the abrasive article comprises a circular center member having an outer edge and a radial line;
• a plurality of bristles extending outward from the outer edge of the circular center member and having a projection on the radial plane of the center member, wherein the bristles comprise a plurality of abrasive particles;
• wherein at least a portion of the bristles orient with the projection at a slant angle relative to the corresponding radial line, wherein the slant angle is in the range of 5 degrees to 60 degrees;
• contacting the driven abrasive article to the workpiece and positioning the abrasive article at an interference depth between the plurality of bristles and the workpiece;
• controlling and monitoring a force applied by the abrasive article to the workpiece using a force control;
• wherein the force applied is proportional to the interference depth over a range of interference depths from 1.0 mm to 7.6 mm.