This video shows the UP6 robot polishing titanium and SS 304.
The 3 HP baldor buffer is running on a VFD set to 45 Hz. That puts the 16" wheels at about 3/4 of 1800 RPM. A good surface speed for 6/4 titanium. It is easy to heat it up if you push hard and run the wheel too fast.
You can't understand what I am saying in the video so I will type it here; The polishing starts on the right (closer) sisal wheel that has a fast cutting black polish for SS. The other wheel has brown polish that leaves a shiny surface.
The robot keeps the part moving while it is touching the wheel, even when it is being inserted and retracted. That wheel cuts fast and easily leaves flat spots if I use it by hand unless I mount the part on an electric drill.
To play the youtube polishing videos in order just click on "Play All Videos" on the right side of the page.