The Study Of Polishing Control System On Double Robot Coordination

This paper proposes a double robot coordination polishing system. It is consisted of double6DOF series robot, binocular vision system and polishing tool system, The system uses two simple6DOF series robot system for mutual communication. it work together with the complex free surface for the polishing processing. it solve the problem of the single robot system in precision, rigidity and operating space. it expanded the robot system operation space and maked polishing tools to get the best polishing pose, more flexible avoidance or processing interference problem. the polishing work efficiency is improved.In this paper, it gives the kinematics inverse equation of double robot system, using the blackboard structure established double robot coordination polishing control model based on many Agent system.It uses TCP/IP protocol completed the double robot coordination polishing system of communication. It controled parameters and path planning. It proves that the use of the system of free curved surface can obtain ideal polishing processing effect, achieve the research purpose.