The study on the multi-rigid body dynamics for the multi-agent polishing system

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 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. Through the introduction of point-curve 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.