Development of Digital Twin for Robotic Arm

被引：6
作者：
Bratchikov, Stepan [1 ]
Abdullin, Artur [1 ]
Demidova, Galina L. [1 ]
Lukichev, Dmitry, V [1 ]
机构：
[1] ITMO Univ, Fac Control Syst & Robot, St Petersburg, Russia
来源：
2021 IEEE 19TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (PEMC) | 2021年
关键词：
digital twin; robot control; motion control; robot kinematics; polynomials;
D O I：
10.1109/PEMC48073.2021.9432535
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Nowadays digital twin technology is a powerful tool for describing, controlling, and displaying the behavior of a real object of robotic systems. This technology is currently planned for widespread application in the Industry 4.0. And one of the important tasks in this area is the creation of a dynamic model of the object in the simulation program. The article describes the basic principles of digital twins' design of the manipulator, taking into account its dynamic and mass-dimensional characteristics, It was shown that the use of polynomial algorithms in the control system provides the best solution for the quality of technological operations and provides standard tolerance grades and limit deviations within IT7.
引用
收藏
页码：717 / 723
页数：7
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