Coordinated control of robotic arm and digital twin based on the combination of physical and virtual entities

DOI:	10.11809/bqzbgcxb2024.11.031
Keywords:	digital twin; mechanical arm; coordinated control; 3D modeling; remote monitoring; intelligent manufacturing
Abstract:	In order to enhance the remote control and teleoperation capability of the existing robotic arm and overcome the problem of limited manipulation accuracy of the existing robotic arm, this study combines the digital twin technology and proposes a new scheme of virtual real coordination control between the digital twin of the robotic arm and the robotic arm entity.The scheme takes ESP32 microcontroller as the control core, combines 3D modeling and printing technology to build the overall structure of the robotic arm, and realizes its 6 degree of freedom operation function by controlling multiple servos; based on the Unity platform, the model of the digital twin of the robotic arm and the corresponding mobile application module are developed, and the information interaction data link between the robotic arm and the digital twin is established to achieve the synchronization between remote control of the robotic arm and the digital twin; through the digital twin technology, the digital twin is synchronized with the digital twin.Through the integration and fusion of cross platform 3D scenes, a coordinated control mode combining virtual and real is established to realize efficient monitoring and precise control of the robotic arm.Finally, after unit test, pressure test, comprehensive function test and example verification, the results show that the physical robotic arm and the digital twin can realize effective coordinated control, complete the basic operations such as grasping small items, and the tracking response curve is basically the same, which confirms the validity of the proposed virtual real coordinated control scheme.
Published:	2024-11-30
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