Industrial Collaborative Robot Digital Twin integration and Control Using Robot Operating System

Q2 Engineering

Journal of Machine Engineering Pub Date : 2022-04-18 DOI:10.36897/jme/148110

Danyil Diachenko, Andriy Partyshev, S. Pizzagalli, Yevhen Bondarenko, T. Otto, V. Kuts

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引用次数: 4

Abstract

Standardized and universal solutions for industrial robot integration are increasingly urgent requirements for companies looking for machine interconnectivity, and flexibility in creating tailor made manufacturing systems. These solutions must be supported by modular and open-source components able to easily integrate new control methods and advanced Extended Reality (XR) interfaces. Robot Operating System (ROS) has proven to be a reliable standard for industrial robot integration. ROS compatibility software is provided by many producers and allows for the implementation of modular control units by unifying development practices along the same libraries and methods. Digital Twins (DT) of industrial equipment and processes offer a solid base to develop innovative digital tools relying on synchronization between physical and digital entities and to easily setup intuitive XR interfaces for teleoperation and programming. This work presents the integration of the OMRON TM5-9000 collaborative industrial robot into the IVAR laboratory DT system at Tallinn University of Technology. By using Unity3D game engine and developing a ROS package for the specific machine, the digital model of the collaborative robot is integrated into the existing twin. Synchronization with the real counterpart is provided by MQTT protocol while a robot user interface is developed in Unity and provides robot joints visualization and remote control.

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基于机器人操作系统的工业协作机器人数字孪生集成与控制

工业机器人集成的标准化和通用解决方案对于寻求机器互联性和创建定制制造系统的灵活性的公司来说是越来越迫切的需求。这些解决方案必须得到模块化和开源组件的支持，这些组件能够轻松集成新的控制方法和高级扩展现实(XR)接口。机器人操作系统(ROS)已被证明是工业机器人集成的可靠标准。ROS兼容性软件由许多生产商提供，并允许通过统一开发实践沿着相同的库和方法实现模块化控制单元。工业设备和流程的数字孪生(DT)为开发依赖于物理和数字实体之间同步的创新数字工具提供了坚实的基础，并轻松设置直观的XR接口，用于远程操作和编程。这项工作展示了欧姆龙TM5-9000协作工业机器人与塔林理工大学IVAR实验室DT系统的集成。通过使用Unity3D游戏引擎，针对特定机器开发ROS包，将协作机器人的数字模型集成到现有的孪生机器人中。MQTT协议提供与真实对手的同步，同时在Unity中开发机器人用户界面，提供机器人关节可视化和远程控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Machine Engineering Engineering-Industrial and Manufacturing Engineering

CiteScore

2.70

自引率

0.00%

发文量

审稿时长

25 weeks

期刊介绍： ournal of Machine Engineering is a scientific journal devoted to current issues of design and manufacturing - aided by innovative computer techniques and state-of-the-art computer systems - of products which meet the demands of the current global market. It favours solutions harmonizing with the up-to-date manufacturing strategies, the quality requirements and the needs of design, planning, scheduling and production process management. The Journal'' s subject matter also covers the design and operation of high efficient, precision, process machines. The Journal is a continuator of Machine Engineering Publisher for five years. The Journal appears quarterly, with a circulation of 100 copies, with each issue devoted entirely to a different topic. The papers are carefully selected and reviewed by distinguished world famous scientists and practitioners. The authors of the publications are eminent specialists from all over the world and Poland. Journal of Machine Engineering provides the best assistance to factories and universities. It enables factories to solve their difficult problems and manufacture good products at a low cost and fast rate. It enables educators to update their teaching and scientists to deepen their knowledge and pursue their research in the right direction.