Development of Digital Twin for Robotic Arm

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.