基于数字孪生的六自由度工业机器人协同作业

Six-degree-of-freedom Industrial Robot Collaborative Work Based on Digital Twin

为了实现工业机器人物理样机与虚拟样机的协同作业,利用示教编程、Works Process组件、Python脚本3种方法完成了六自由度工业机器人的数字孪生模型的建模。建立了工业机器人虚拟样机与物理样机间的通信,实现了数字孪生机器人与物理机器人的虚实协同作业。实验表明:在物理端操控机器人运动时,数字孪生体与其行为相一致。研究成果为数字孪生技术在工业机器人领域的应用提供了参考。

In order to realize the collaborative operation of industrial robot physical prototype and virtual prototype,the digital twin model with six degrees freedom of industrial robot was completed using three methods:demonstration teaching programming,Works Process component and Python script.The communication between the virtual prototype of the industrial robot and the physical prototype was realized,and the virtual and real collaborative operation of the twin robot and the physical robot was realized.Experiments show that when manipulating the movement of the robot on the physical side,the digital twin was consistent with its behavior.The research results provide references for the application of digital twin technology in the field of industrial robots.