Robotic surface modification systems and methods

A robotic surface modification system comprising:

• a robotic arm;
• an active compliance unit coupled to the robotic arm;
• an end effector coupled to the active compliance unit;
• an imaging system mounted to the end effector, wherein the imaging system is configured to capture images of a curved, specular surface, wherein the imaging system comprise a light source, the light source comprising curvature.

A method of modifying a surface, the method comprising:

• imaging the surface, a first time, using an imaging system mounted to an end-of arm system of a robotic surface modification unit;
• characterizing the surface, based on images captured by the imaging system;
• switching a relative position of the imaging system with a tool of the surface modification system;
• based on the characterization, conducting a surface modification operation, using the tool;
• imaging the surface, using the imaging system, a second time;
• and
• evaluating the surface modification operation based on the second captured images.