CPC B24B 37/042 (2013.01) [B24B 27/0076 (2013.01); B25J 5/007 (2013.01); B25J 9/16 (2013.01); B25J 15/0019 (2013.01); B25J 19/022 (2013.01); B25J 19/023 (2013.01); B25J 19/026 (2013.01); G05B 19/00 (2013.01)] | 19 Claims |
1. A system for polishing a surface of a component, said system comprising:
a motorized apparatus comprising:
a body;
a drive system coupled to said body and configured to move said body relative to the component, said drive system comprising a motor;
an arm comprising a proximal end coupled to said body and a distal end opposite said proximal end, wherein at least a portion of said arm is configured to move relative to said body;
a tool coupled to said distal end of said arm, wherein said tool is configured to polish the surface of the component; and
an actuator coupled to said arm and configured to position said arm relative to the component such that said tool reaches a target area on the component; and
a controller communicatively coupled to said motorized apparatus, wherein said controller is configured to:
determine an estimated power consumption of said motorized apparatus during a polishing operation,
determine a threshold distance that is less than a full reach of said arm and that prevents vibrations of said tool and said arm from exceeding a predefined level;
determine a movement of at least one of said body and said arm relative to the component that enables said tool to reach the target area on the component while maintaining i) a distance between said tool and said body that is less than the determined threshold distance, and ii) the estimated power consumption less than a threshold power consumption,
position at least one of said body and said arm in accordance with the determined movement; and
control operation of said tool to polish the surface of the component and to maintain the estimated power consumption less than the threshold power consumption during the polishing operation.
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