The Sanding Cobot system provides mobile, semi-automatic surface sanding. The system leverages Broetje‘s modular toolbox for lightweight collaborative robotics and combines the industry-proven UR10e positioning system with an interchangeable, custom-built end effector that uses a Mirka sanding head. No programming is required thanks to the robot‘s automatic path generation. The system is mounted on a mobile rolling base and can be operated by the worker without lengthy training. This allows the system to be used from lot size 1. The Sanding Cobot system is capable of roughening surfaces of all types in preparation for painting in various industries such as aerospace, shipbuilding, automotive and wind turbine manufacturing. The safety system enables applications in a collaborative environment with humans.