Embedding Digital Twin Technology in Robotics

Abstract

The relevance of introducing digital twin technology in robotics is substantiated, which allows testing and modelling the capabilities of robots, such as manipulation, grasping, etc., using virtual robot prototypes that are identical copies of physical robot prototypes. An overview of the key components of the digital twin framework for robotics, including the physical element, virtual element, middleware, service and transport components, is provided. A technology for designing a robot using digital twins is proposed, including the design of a computer model of a robot using a computer-aided design system or three-dimensional graphics packages, the use of robot simulation systems, data management, data analysis and human-machine interaction. The further development of the research is the implementation of digital twin technology for a rescue robot according to the proposed stages: building a computer model, programming robot behaviour in a simulation system, developing a mathematical and digital model of the robot, implementing human-machine interaction between a physical robot and its digital replica, which will allow testing the interaction of the main components of the digital twin, performing data exchange between the physical and digital replica, and building a digital data model to verify the main operations.