基于数字孪生驱动的机器人运动仿真与状态虚实同步映射研究
Research on robot motion simulation and virtual-real synchronized mapping driven by digital twins
牛进鑫 1孙文磊 1刘国良 1包胜辉 1张克战1
作者信息
- 1. 新疆大学机械工程学院,乌鲁木齐 830017
- 折叠
摘要
研究在机器人系统中创新性地引入了基于数字孪生的建模方法,以推动机器人实时仿真和监测水平的提升.在Unity3D平台上,通过构建物理实体的虚拟孪生体模型并建立通信连接,实现了数据和状态的同步更新,从而精准地实现了数字孪生的虚实映射.之后,构建了虚拟场景和运动仿真模型,并通过实验验证,证明了该系统的高效性和准确性.研究呈现了一个实现机器人运动仿真和状态虚实同步技术的数字孪生系统,展示了数字孪生在机器人领域的前景和应用价值.该系统有望优化机器人作业,提升加工品质,并提高工作人员操作的安全性水平.
Abstract
A digital twin-based modeling approach was innovatively introduced in robotic systems to promote the improvement of real-time simulation and monitoring of robots.On the Unity 3D platform,the synchronized update of data and state was achieved by constructing a virtual twin model of a physical entity and establishing a communication connection,thus accurately realizing the virtual-reality mapping of the digital twin.After that,virtual scenes and motion simulation models were constructed and experimen-tally verified to demonstrate the efficiency and accuracy of the system.A digital twin system that implements robot motion simula-tion and state virtual-reality synchronization techniques,demonstrating the prospect and application value of digital twins in the field of robotics was presented by studies.The system is expected to optimize robot operations,improve machining quality,and in-crease the safety level of staff operations.
关键词
数字孪生/机器人作业/实时映射/Unity3D/三维可视化监测Key words
digital twinning/robot operation/real-time mapping/Unity 3D/three-dimensional visualization monitoring引用本文复制引用
基金项目
新疆维吾尔自治区重点研发计划(2018B02012)
乌昌石国家自主创新示范区科技发展计划(2022LQ03007)
出版年
2024
国家科技期刊平台
NSTL
万方数据