基于数字孪生的工业机器人虚实联动系统开发

Development of Virtual-Real Linkage System for Industrial Robots Based on Digital Twin

为实现工业机器人与数字孪生体之间数据的双向驱动,基于数字孪生系统架构,开发一种工业机器人虚实联动系统。在Unity3D中搭建虚拟场景,建立关节控制、末端点位控制、末端轨迹控制等多种方式实现虚拟机器人的仿真运动。基于TCP/IP协议的Socket网络通信模式,利用双向传输的机器人位姿状态等数据驱动虚实模型同步运动。经测试,该系统具有良好的实时性与沉浸性,能够满足工业机器人的实时监测与可视化控制要求。

In order to realize the bidirectional driving of data between industrial robot and digital twin,a virtual-real linkage system for industrial robots was developed based on the digital twin system architecture.A virtual scene of the system was built in Unity3D,and various methods such as joint control,end point control,and end trajectory control were established to realize the simulated motion of the virtual robot.Based on the Socket network communication mode of the TCP/IP protocol,the two-way transmission of the robot pose state and other data was used to drive the synchronous motion of the virtual and real models.After testing,the system has good real-time performance and immersion,which can meet the real-time monitoring and visual control requirements for industrial robots.