Research On Motion Simulation And State Monitoring System Of Industrial Robot Based On Digital Twin

Industrial robot is a very representative equipment in the field of intelligent manufacturing.It is very important to study the motion simulation technology and monitoring technology of industrial robot.Most of the existing researches adopt simulation technology which is separated from the physical entity,and verify it by inputting data and unidirectional driving digital model.Traditional methods have some problems,such as low credibility of motion simulation,low accuracy of collision detection,and incomplete monitoring perspective.This thesis presents an idea of motion simulation and monitoring of industrial robot based on Digital Twin.The specific data of physical entity is mapped to the twin model in real time to drive the movement of the twin model;the data formed by the twin model drives the movement of the physical entity.Real time and bidirectional driving simulation and monitoring based on physical entity are realized.The main research contents are as follows:1)The behavior and data mapping relationship between the physical entity and the twin model is discussed,the four-dimensional architecture of industrial robot Digital Twin system is proposed,and the virtual system corresponding to the physical entity is constructed by using Unity3 D.2)The kinematics and trajectory planning of the robot are analyzed,and the trajectory planning algorithm is integrated into the system to realize the motion simulation function in the virtual environment.In view of the low accuracy and easy misdetection of Unity3 D built-in collider,an improved hybrid hierarchical bounding box collision detection algorithm is implemented to improve the accuracy of collision detection.3)A three-dimensional visual monitoring scheme for the robot is proposed,which maps the twin data into the virtual environment,makes the robot running state transparent,and realizes the multi-angle and multi-data omni-directional monitoring of the robot running process.The twin data is persistent,and the running state of the robot can be reproduced by calling the historical data,so that the data can be traced back.4)A prototype system is developed and an experimental platform is built to test the motion simulation and monitoring functions of the system.The experimental results verify the feasibility and effectiveness of the system.The innovation of this thesis is shown in two aspects:Firstly,a four-dimensional architecture of industrial robot motion simulation and monitoring system based on Digital Twin is proposed,which establishes a two-way real-time high-fidelity mapping between physical entity and virtual system,which has the advantages of high visualization,good interaction and elimination of dead angle of monitoring.Secondly,an improved hybrid hierarchical bounding box collision detection algorithm is proposed,which combines Unity3 D built-in collider with hierarchical bounding box algorithm to make up for the lack of compactness of built-in collider,inaccurate detection and false detection.