Study on Robot Workpiece Perception and Virtual Real Mapping Calibration Method Based on Digital Twin
The robot adopts the method of off-line programming.The simulation environment and the real environment are independent in space and isolated in time.The reverse reconstruction process of the machined workpiece is cumbersome,and there are shape and positioning errors.Therefore,the modeling method of digital twin robot based on robot operating system(ROS)was proposed,the perceptual reconstruction of workpiece from real environment to virtual environment was realized.The characteristics of virtual real interactive mapping of digital twin were studied,a virtual real mapping calibration method based on digital twin principle was proposed,and the workpiece error between real physical environment and virtual simulation environment was corrected.Finally,for the digital twin system of grasping robot,a case test of grabbing workpiece was carried out to verify the effectiveness of the method.
digital twinindustrial robotworkpiece perceptionvirtual real calibration
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