Target Grasping And Collaboration System Of Dual-Arm Robot Based On Digital Twinning

With the introduction of "Industry 4.0" and other development strategies and digital twin technology,industrial automation is undergoing a digital revolution.Replacing artificial production by industrial robots is an important trend of the development of manufacturing industry in the future.It has the advantages of high production efficiency,high product accuracy and strong consistency,and it is the guarantee of realizing industrial automation,digitalization and intelligence in the future.The integration of digital twin technology in the grasping process of industrial robots can realize the whole life cycle monitoring,virtual debugging and virtual and real synchronization of the grasping process,and carry out predictive maintenance and motion control of the robots.To a certain extent,the problems such as low visualization degree of industrial robot monitoring,tedious manual online teaching and robot application restrictions can be solved.This paper carries out a series of researches on object grasping and cooperation system of dual-arm robot based on digital twinning.The main researches are as follows:(1)Construction of digital twin model of Yumi dual-arm cooperative robot.Based on the basic requirements of digital twin modeling,the static characterization and dynamic reflection of Yumi robot are realized from the geometric,physical and behavioral levels.3D modeling software is used to draw 3D digital model of the robot,and the redundancy of the model is reduced by lightweight processing,and the processing speed of the model is accelerated.The improved DH parameters were used to model the robot,and the kinematics of the model was analyzed from the forward kinematics and the inverse kinematics.Finally,the accuracy of the model kinematics was verified by experiments.(2)Development of digital twinning virtual monitoring system for dual-arm robot.The digital twin model of the dual-arm robot is studied based on CoppeliaSim simulation software,and the functional modules of the physical robot data acquisition and monitoring are designed based on ABB secondary development tool.Socket communication is used to realize the information exchange between the physical end and the virtual end to ensure the real-time and consistency of data.At the same time of visual monitoring,the visualization of movement track and data is realized,and the data persistence is realized in MYSQL database.Finally,the feasibility of digital twin 3D visual monitoring is verified by experiments.(3)Virtual debugging of dual-arm robot based on digital twinning is realized.The virtual dual-arm robot manual control interface is developed based on QT,and the digital twin system of the dual-arm robot is improved,with manual and program debugging functions.In the twin space,the virtual robot motion problem is planned by debugging program,including collision detection,obstacle avoidance path planning,etc.,and the robot control scheme is formed.And through digital twin virtual and real interaction,the effect of driving real robot synchronous motion is realized.(4)A dual-arm robot target grasping and cooperation based on digital twinning is realized.A Zed binocular camera was used to photograph the working area,and the internal and external parameter matrices of the camera were obtained through camera calibration and hand-eye calibration,thus the transformation relationship between the camera coordinate system and the robot base coordinate system was obtained.For the mixed material sorting task of the dual-arm robot in this paper,the relevant data set is made,the YOLOv5 network is used to identify the grasping target,and the communication with the robot controller is established,so as to complete the grasping and cooperation work.In the digital twin virtual monitoring system,real-time motion monitoring,data visualization and persistence in the whole grasping process are realized.