Bidirectional Linkage Robot Digital Twin System Based on ROS

摘要

The various robots available are expensive, and it is impossible to provide each student with a robot for learning and hands-on training, as is the case with computers. In response to this problem, the digital twin technology is introduced into the teaching practice of robotics, and a bidirectional linkage robot digital twin system based on ROS is developed. The system uses Unreal Engine 4 to build the virtual space. The robot twin is constructed in virtual space to simulate and provide feedback on the state of a real robot in physical space. The digital twin of the robot is programmed and debugged through a custom ROS interface to enable motion planning of the real robot, thus enabling virtual-real interaction. It collects and analyzes the robot's working status in real-time while the robot is operating and maps the robot twin to the real robot in real time to achieve remote 3D real-time monitoring of the robot. The system was tested on the pavilion and UR5 robots, respectively, and was feasible with a response time of 38ms.