The Study on the Multi-Rigid body Dynamics for the Multi-Agent Polishing System

摘要：

The MAS (Multi-Agent System) theory is already widely applied to the mechanical machining, especially the study on the robot. This paper puts forward a multiAgent 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. Through the introduction of pointcurve constraint, the dynamics of the constraint multi-rigid body equation for the polishing system is established in order to accurately program the moving track of the robots. Meanwhile, the control parameters during the polishing can be optimized. The satisfied polishing effect on the curved surfaces can be obtained and the demand of the polishing can be achieved by the MAS.

作者: Miao Yu Shiqiang Ma Zhong Miao

作者单位: College of Mechanical Engineering Changchun University Weixing Road 6543, Changchun City, Jilin Province, China

会议类型: 国际会议

会议名称: 2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

会议地点: 长春

会议语种:英文

页码: 131-134

在线出版日期: 2010-08-24（万方平台首次上网日期，不代表论文的发表时间）