# Research on Kinematic Calibration and Trajectory Tracking of the Dual-Robot Collaborative Grinding and Polishing System

## TL;DR

This paper presents a systematic solution for motion planning in dual-robot grinding and polishing systems, improving accuracy and efficiency through advanced calibration methods.

## Contribution

The integration of the 'handshake' method with the seven-point calibration approach in a dual-robot pose constraint model is novel for enhancing spatial mapping accuracy.

## Key findings

- The integrated calibration method achieved an average error below 8 mm in 10 repeated experiments.
- The dual-robot collaborative grinding model was validated through comprehensive simulations and experiments.
- The approach provides a reference for kinematic modeling and calibration in multi-robot systems.

## Abstract

What are the main findings?

Proposes a systematic solution for motion planning in dual-robot collaborative grinding and polishing systems, experimentally validating its effectiveness.

Integrates the “handshake” method with the seven-point calibration approach via a dual-robot pose constraint model, boosting spatial mapping accuracy.

What is the implication of the main finding?

Offers a reliable solution for industrial dual-robot collaborative grinding and polishing tasks, improving operation accuracy and efficiency.

Provides a reference for kinematic modeling and calibration of other multi-robot systems, promoting the development of robotic collaborative technologies.

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.