Digital twin in the system of external adaptive control of robot manipulators

摘要

The article discusses the implementation of a digital twin in the system of adaptive control of robotic manipulators. The use of digital twins to plan, control and maintain the life cycle of production equipment forms the sustainable introduction of robotic systems into the technological processes of high-tech enterprises. The use of a digital twin in the collaboration of a robot system allows you to design more versatile workplaces and assembly lines, and optimize their workload. A new approach is proposed that allows solving problems of direct and inverse kinematics for robotic manipulators. The approach is to represent the kinematic diagram of a robotic arm with six rotational joints as a vector model. Due to the low computational load, the use of the proposed approach in control systems makes it possible to reduce delays when working in real time, with the ability to increase the number of robotic arms and control with higher accuracy.