Automatic Generation Technology of Kinematic Models for Digital Twin Simulation of Robotic Arms
An automatic generation method for kinematic models of digital twin robotic arms is proposed,and a six axis underwater robotic arm is taken as an example to automatically establish its standard DH(Denavit Hartenberg parameters)coordinate system in Unity3D.The DH parameters are solved and exported for calibrating the DH parameters of the robotic arm and correcting the kinematic model.The motion of the virtual underwater robotic arm is controlled through forward kinematics.It provides a reference for error mapping of robotic arms in digital twin environments.
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