Aiming at the problem of the compliance control of the robot end force in the robot polishing of non-circular section components surface,a dual-robot collaborative polishing system was designed to analyze the motion process of dual-robot collaborative polishing,and the Preston equation was used as the theoretical basis.The contact impedance model between the cloth wheel polishing tool end and the workpiece was established,and the relationship between the contact force error and the impedance model parameters was analyzed.Adaptive adjustment of the damping parameters was proposed to realize the soft contact between the cloth wheel polishing tool and the workpiece.Fuzzy control theory and PI control theory were introduced to adjust the proportional,integral and damping parameters in real time.The simulation and experimental results show that the fuzzy adaptive PI control has the characteristics of low overshoot,rapid response,and rapid stability compared with adaptive impedance control and constant impedance control,and it can also follow dynamic expectation force.