Development of a Dual-robot System for Parametric Surfaces Polishing

Abstract

This paper presents the development and the implementation of a dual-robot coordination system for the parametric surfaces polishing. First, a robot kinematic model is discussed. Then, An adaptive tool path generation algorithm for parametric surfaces is proposed, the CL data consist of positions and orientations of the cutter is also calculated from the CC path. Finally, the concepts of the dual-robot configurations, postprocessing, and off-line robot path generation are presented. The results of polishing experiments show that the proposed dual-robot system is flexible and efficient for parametric surface polishing.