Digital Twin Driven Four-Dimensional Path Planning of Collaborative Robots for Assembly Tasks in Industry 5.0

摘要

Collaborative robots are vital in Industry 5.0 operations. They are utilized to perform tasks in collaboration with humans or other robots to increase overall production efficiency and execute complex tasks. Aiming at a comprehensive approach to assembly processes and highlighting new applications of collaborative robots, this paper presents the development of a digital twin (DT) for the design, monitoring, optimization and simulation of robots’ deployment in assembly cells. The DT integrates information from both the physical and virtual worlds to design the trajectory of collaborative robots. The physical information about the industrial environment is replicated within the DT in a computationally efficient way that aligns with the requirements of the path planning algorithm and the DT’s objectives. An enhanced artificial fish swarm algorithm (AFSA) is utilized for the 4D path planning optimization, taking into account dynamic and static obstacles. Finally, the proposed framework is utilized for the examination of a case in which four industrial robotic arms are collaborating for the assembly of an industrial component.