Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System
This study proposes a systematic solution to the motion planning challenges in dual-robot collaborative grinding and polishing systems, with its effectiveness experimentally validated. By establishing a dual-robot pose constraint model, this study innovatively integrates the “handshake” method with...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/13/4075 |
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| author | Wenduan Yan Luwei Xu Yifang Sun Hongjie Xu Zhifei Ji |
| author_facet | Wenduan Yan Luwei Xu Yifang Sun Hongjie Xu Zhifei Ji |
| author_sort | Wenduan Yan |
| collection | DOAJ |
| description | This study proposes a systematic solution to the motion planning challenges in dual-robot collaborative grinding and polishing systems, with its effectiveness experimentally validated. By establishing a dual-robot pose constraint model, this study innovatively integrates the “handshake” method with the seven-point calibration approach, achieving enhanced spatial mapping accuracy between the base coordinate system and tool coordinate system. Based on the modified Denavit–Hartenberg (DH) method, this study establishes kinematic modeling for EPSON C4-A901S robots on the MATLAB platform. By integrating calibration parameters, a dual-robot collaborative grinding model is constructed, with its reliability thoroughly verified through comprehensive simulations. An experimental platform integrating dual EPSON C4-series robots with grinding devices, clamping fixtures, and drive systems was established. The average error below 8 mm from 10 repeated experiments fully validates the accuracy and practical applicability of the integrated calibration method. |
| format | Article |
| id | doaj-art-4d992e88cf034a93aa2d34a1275d0333 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-4d992e88cf034a93aa2d34a1275d03332025-08-20T03:17:51ZengMDPI AGSensors1424-82202025-06-012513407510.3390/s25134075Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing SystemWenduan Yan0Luwei Xu1Yifang Sun2Hongjie Xu3Zhifei Ji4School of Optoelectronic and Mechanical Engineering, Minnan University of Science and Technology, Quanzhou 362700, ChinaSchool of Optoelectronic and Mechanical Engineering, Minnan University of Science and Technology, Quanzhou 362700, ChinaSchool of Optoelectronic and Mechanical Engineering, Minnan University of Science and Technology, Quanzhou 362700, ChinaShishi Huixing Machinery Co., Ltd., Quanzhou 362700, ChinaCollege of Marine Equipment and Mechanical Engineering, Jimei University, Xiamen 361021, ChinaThis study proposes a systematic solution to the motion planning challenges in dual-robot collaborative grinding and polishing systems, with its effectiveness experimentally validated. By establishing a dual-robot pose constraint model, this study innovatively integrates the “handshake” method with the seven-point calibration approach, achieving enhanced spatial mapping accuracy between the base coordinate system and tool coordinate system. Based on the modified Denavit–Hartenberg (DH) method, this study establishes kinematic modeling for EPSON C4-A901S robots on the MATLAB platform. By integrating calibration parameters, a dual-robot collaborative grinding model is constructed, with its reliability thoroughly verified through comprehensive simulations. An experimental platform integrating dual EPSON C4-series robots with grinding devices, clamping fixtures, and drive systems was established. The average error below 8 mm from 10 repeated experiments fully validates the accuracy and practical applicability of the integrated calibration method.https://www.mdpi.com/1424-8220/25/13/4075dual robotsMATLAB simulationcalibrationcooperative relative motion |
| spellingShingle | Wenduan Yan Luwei Xu Yifang Sun Hongjie Xu Zhifei Ji Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System Sensors dual robots MATLAB simulation calibration cooperative relative motion |
| title | Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System |
| title_full | Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System |
| title_fullStr | Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System |
| title_full_unstemmed | Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System |
| title_short | Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System |
| title_sort | research on kinematic calibration and trajectory tracking of the dual robot collaborative grinding and polishing system |
| topic | dual robots MATLAB simulation calibration cooperative relative motion |
| url | https://www.mdpi.com/1424-8220/25/13/4075 |
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