Abrasive articles, systems and methods of use

A robotic abrading system comprising:

• an abrasive article comprising a wear cue;
• a backup pad coupled to the abrasive article;
• a robot arm configured to move the abrasive article into position with respect to a substrate;
• a force control unit, on the robot arm and coupled to the backup pad, wherein the force control unit applies a force to the backup pad;
• and
• a wear indication system that determines an amount of wear of the abrasive article based on the wear cue, and, based on the amount of wear, an operational parameter of the robotic abrading system is adjusted,
• wherein the wear indication system comprises:
• a detector that detects the wear cue;
• an efficiency indication generator that generates an abrasive efficiency for the abrasive article;
• and
• a command generator that generates a command to adjust the operational parameter.