A Study On The Coordination Of The Polishing Control System For The Serial-Parallel Robots

This paper puts forward the multi-robot system consists of serial-robot, parallel-robot, grinding/polishing tool and so on. Positive/inverse solutions of the MOTOMAN-HP3serial-robot and NPT800parallel-robot were deduced, the communication of robots ontology and the communication between the MOTOMAN-HP3serial-robot and NPT800parallel-robot were established, finally, the optimal configuration of processing parameters and the optimal planning of processing the path were realized.Because of this coordinated control system of multi-robot more than the traditional single robot a parallel robot, grinded/polished tool can obtain better pose and has a better flexibility in the interference processing. This type of structure not only expands the work space of robot also improves work efficiency and to effectively avoid interference. Experiments proved that the free-form surface is grinded/polished by this system can get ideal processing results.