Construction Method of a Digital-Twin Simulation System for SCARA Robots Based on Modular Communication

摘要

Due to the high cost of robots, the algorithm testing cost for physical robots is high, and the construction of motion control programs is complex, with low operation fault tolerance. To address this issue, this paper proposes a low-cost, cross-platform SCARA robot digital-twin simulation system based on the concept of digital twins. This method establishes a 5D architecture based on the characteristics of different platforms, classifies data and integrates functions, and designs a data-processing layer for motion trajectory calculation and data storage for a virtual-reality robot. To address the complexity of data interaction under different cross-platform communication forms, an editable, modular, cross-platform communication system is constructed, and various control commands are encapsulated into simple programming statements for easy invocation. Experimental results showed that, based on modular communication control, users can accurately control data communication and synchronous motion between virtual and physical models using simple command statements, reducing the development cost of control algorithms. Meanwhile, the virtual-robot simulation system, as a data mapping of the real experimental platform, accurately simulated the physical robot's operating state and spatial environment. The robot algorithms tested using the virtual simulation system can be successfully applied to real robot platforms, accurately reproducing the operating results of the virtual system.