首页|The Dynamics Analysis of the Robot Polishing System by the Multi-Agent System
The Dynamics Analysis of the Robot Polishing System by the Multi-Agent System
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In order to solve the confliction among the working space, precision and stiffness on the free-form surface, this paper puts forward a Multi-Agent alliance control model that is made up of the series robot Agent, the parallel moving platform Agent and the polishing tool system Agent and so on by organically introducing the MAS (Multi-Agent System) theory into the polishing. Through the introduction of virtual point-curve constraint, the dynamics of the constraint multi-body equation for the polishing system is established in order to accurately program the moving track of the robots. Meanwhile, the control parameters and the optimal path during the polishing can be optimized.
multi-agentagentseries-parallel coordinates polishingdynamics of the multi-body
Yu Miao、Cai Zhi
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College of Mechanical Engineering, Changchun University, P.R.China
Computer & Information Engineering College, Hei Longjiang University of Technology, P.R.China
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