In response to the lack of comprehensive functionality and limited application scenarios in the current field of industrial robot digital twin systems,which results in low versatility,a method for constructing a digital twin system for industrial robots with high versatility is proposed.A four-dimensional system architecture for the digital twin is designed and the components and functions of the four-dimensional system are analyzed,based on the system level planning of the four-dimensional system,the concept of integrating reinforcement learning into the virtual replacement of real concept is defined.By constructing a multi-attribute virtual model and using TCP communication protocol to build a data communication system for virtual-real data interaction,combined with robot forward and inverse kinematic analysis,the virtual-real mapping and control functions are achieved.A reinforcement learning virtual scene is constructed using a virtual robot model to replace the physical robot for reinforcement learning training,to achieve automatic path planning functionality.The experimental results verify the feasibility and reliability of the developed digital twin system,providing a new solution for further enriching the functionality of industrial robot digital twin systems.
关键词
数字孪生/工业机器人/强化学习/四维模型/虚实映射
Key words
digital twin/industrial robots/reinforcement learning/four-dimensional model/virtual-real mapping
维普
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