**Beatriz de Agustina 1,\*, Marta María Marín 1, Roberto Teti <sup>2</sup> and Eva María Rubio <sup>1</sup>**


Received: 11 July 2018; Accepted: 13 August 2018; Published: 15 August 2018

**Abstract:** In this study feature extraction of force signals detected during robot-assisted polishing processes was carried out to estimate the surface roughness during the process. The purpose was to collect significant features from the signal that allow the determination of the end point of the polishing process based on surface roughness. For this objective, dry polishing turning tests were performed on a Robot-Assisted Polishing (RAP) machine (STRECON NanoRAP 200) during three polishing sessions, using the same polishing conditions. Along the tests, force signals were acquired and offline surface roughness measurements were taken at the end of each polishing session. As a main conclusion, it can be affirmed, regarding the force signal, that features extracted from both time and frequency domains are valuable data for the estimation of surface roughness.

**Keywords:** robot-assisted polishing; force signal; surface roughness; end point detection
