外置视觉监测的机器人数字孪生系统研究  

Study on robot digital twin system with external visual monitoring

作　　者：张旭东 王国庆[1] 刘平利 杨嘉龙 覃波 石振宇 Njaramba Winnie Nyokabi ZHANG Xudong;WANG Guoqing;LIU Pingli;YANG Jialong;QIN Bo;SHI Zhenyu;Njaramba Winnie Nyokabi(Chang’an University College of Engineering Machinery,Shaanxi Xi’an 710064,China)

机构地区：[1]长安大学工程机械学院,陕西西安710064

出　　处：《工业仪表与自动化装置》2024年第1期47-50,共4页Industrial Instrumentation & Automation

基　　金：省级科技计划项目2024GX-YBXM-154资助。

摘　　要：目前,在直角坐标机器人的数字孪生系统研究中,存在数字端对物理端真实情况反应不足的问题。针对此问题,采用外置视觉和数字孪生系统模型相结合的方法,基于半物理仿真技术建立数字端模型,并构建了直角坐标机器人数字孪生系统,设计了结合外置视觉的数字孪生系统模型,并就构建数字孪生系统所涉及的关键技术进行了分析,包括数字端模型、控制器、外置视觉监测等。实现了对直角坐标机器人数字孪生系统的开发,完成了相关功能的实现。At present,in the study of the digital twin system of cartesian robots,there is a problem that the digital side does not respond to the real situation of the physical side.To solve this problem,the digital end model is established based on semi-physical simulation technology,and the digital twin system of cartesian coordinate robot is constructed.The model of digital twin system combined with external vision is designed,and the key technologies involved in constructing digital twin system are analyzed,including digital terminal model,controller,external vision monitoring and so on.The digital twin system of cartesian coordinate robot is developed and the related functions are realized.

关 键 词：直角坐标机器人 数字孪生 外置监测 半物理仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP242.2[自动化与计算机技术—计算机科学与技术]