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Development of a Simple and Novel Digital Twin Framework for Industrial Robots in Intelligent robotics manufacturing

Tianyi Xiang, Borui Li, Xin Pan, Quan Zhang

TL;DR

This paper has proposed an easily replicable and novel approach for developing a Digital Twin system for industrial robots in intelligent manufacturing applications that enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools.

Abstract

This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only $17 ms$. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.

Development of a Simple and Novel Digital Twin Framework for Industrial Robots in Intelligent robotics manufacturing

TL;DR

This paper has proposed an easily replicable and novel approach for developing a Digital Twin system for industrial robots in intelligent manufacturing applications that enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools.

Abstract

This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only . Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.

Paper Structure

This paper contains 11 sections, 7 equations, 6 figures, 1 table.

Table of Contents

  1. Introduction
  2. Related Work
  3. Framework
  4. The Robotic Manufacturing Station
  5. The Digital Twin Platform (Unity 3D) of the Robot Manufacturing Station
  6. Web-Based Platform
  7. Communication and Data Transmission
  8. Motion Control Algorithm
  9. Levenberg–Marquardt Method of Inverse Kinematics
  10. Results and Analysis
  11. Conclusion

Figures (6)

  • Figure 1: Digital Twin (Unity 3D) Working Screenshot and GUI Design (1st. Pointer Operation Panel; 2nd. IP Control Panel; 3rd. Event Monitoring; 4th. Joint Motion Control; 5th. Linear Motion Control; 6th. Refresh Rate Monitoring; 7th. I/O System Monitoring).
  • Figure 2: The Framework of the Proposed Digital Twin System for the Stacking Robot Workstation
  • Figure 3: Web-based Platform Framework Design and Working Screenshot
  • Figure 4: The Framework and Algorithm of Motion Control across Unity 3D, MATLAB, Robot Arm IRB120
  • Figure 5: The Trajectory Mapping of the Robot Arm's Tool of Center Point across Physical Workstation, Digital Twin, and MATLAB Solver.
  • ...and 1 more figures