Studying On The Control Technology Of The Double Robot Polishing Based On Multi Sensor Fusion

In the past decade,with the rapid development of science and technology and the increasing of the unmanned and intelligent factories,the demand for industrial robots has increased dramatically.At present,industrial robot technology has been widely applied in various industries,such as machining,assembly,handling,transportation and so on.In the field of mechanical processing,the demand for industrial robots is getting higher and higher,for example,industrial robots need larger workspace,higher running speed,working accuracy and trajectory accuracy,and the tasks are becoming more and more complex,such as machining some larger or complex free-form surface jobs,which have a large machining scope and may be have a machining dead angle,It is difficult for a single robot to complete the machining task,but if we use two or more industrial robots to machine together,it will be easy to complete the complicated and difficult work of high efficiency and high quality.Aiming at the actual application of industrial robots,this paper introduces the multi-sensor fusion technology and double robot technology into the polishing of die free-form surface,and the double robot coordinated polishing system is composed of two sets of six degrees of freedom modular arm,binocular camera,six-dimensional force sensor and polishing tool system.The system determines the polishing point and the polishing trajectory by the coordinated control of the double robot and the guidance of the binocular vision,and in the process of the polishing,according the real-time feedback of the visual and force sensors to adjust the position and posture of the polishing tools,so that it can increase the working space and also can adjust the pose of the polishing tool to ensure the stability of the polishing pressure at the moment.In this paper,we carry out kinematic analysis of the double robot and establish a multi sensor fusion control system model firstly,and then use Adams software to analyze the force of the robot arm end at constant contact force.Finally,verifying the feasibility,accuracy and generality of the polishing system by experiments.Compared with the traditional single robot system,applying the double robot technology platform and combining with multi-sensor fusion technology to polishing the mould surface.It has better openness,flexibility and robustness.