Methodology of Construction of a Digital Twin: Application to the Stäubli Robot's Arm and Shoulder

Abstract

In this paper, we present the development and analysis of a digital twin for the Stäubli robot's arm and shoulder. Using SIMULINK/MATLAB, we simulate the robot's normal operational behavior, focusing on its kinematics, dynamics, and control algorithms. This digital twin serves as a baseline for understanding the robot's standard functioning, facilitating performance optimization and predictive maintenance. The results demonstrate the effectiveness of digital twins in enhancing the reliability and efficiency of robotic systems.