The Synchronous Grasping Method of Virtual-real Assembly Robot Based on Digital Twin
A method based on digital twin for assembly robot virtual-real synchronization and grasping is proposed to address the issues of poor intelligent grasping accuracy and difficult data processing in assembly tasks for industrial robots.Based on the digital twin,a digital twin assembly robot virtual-real synchronization and grasping architecture is designed.The OPC UA information model is built by classifying multi-source heterogeneous data,and the OPC UA communication protocol is used as a bridge for data communication of the assembly robot,achieving virtual-real synchronization.The convolutional neural network is further trained using the virtual robot to improve the grasping accuracy of the materials.The correctness and effectiveness of the proposed method are validated in the developed robot digital twin prototype system,providing a new solution for achieving digital twin virtual-real synchronization and precise grasping for assembly robots.
digital twinassembly robotreal-time datagrabOPC UAvirtual and real synchronization
万方数据
维普
