A Digital Twin System for 6DoF Robot Grasping

Abstract

Driven by Industry 4.0 and smart logistics, robot technology has entered a stage of rapid development. Robots are increasingly applied in factories. In this paper, we propose a digital twin system for robot grasping. A 6DoF industrial robot is used as the execution module of object grasping in the physical world, and a simulated grasping environment is built in the virtual world as same as the physical world. After the path planning and collision detection in the virtual world, the trajectory data of the robot is sent to the physical world with a specific data structure. The experimental results show that the parameter error of the end effector between the physical twin and the virtual twin is less than 5mm, which verifies that the system proposed in this paper has good real-time performance.