The Collaboration Control for the Multi-Robot Polishing System

摘要

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 the MAS theory. Based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the MOTOMAN-HP3 serial robot communication, the NPT800 parallel robot of motion control and communication between two robots are introduced respectively. In the end, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the win socket. The satisfied polishing effect on the curved surfaces can be obtained and the demand of the polishing can be achieved by the MAS.