Digital twin-and extended reality-based telepresence for collaborative robot programming in the 6G perspective  

作　　者：Davide Calandra F.Gabriele Pratticò Alberto Cannavò Claudio Casetti Fabrizio Lamberti 

机构地区：[1]Politecnico di Torino,Department of Control and Computer Engineering,Corso Duca Degli Abruzzi,24,10129,Turin,Italy

出　　处：《Digital Communications and Networks》2024年第2期315-327,共13页数字通信与网络（英文版）

基　　金：funded by the European Commission through the H2020 project Hexa-X(Grant Agreement no.101015956).

摘　　要：In the context of Industry 4.0,a paradigm shift from traditional industrial manipulators to Collaborative Robots(CRs)is ongoing,with the latter serving ever more closely humans as auxiliary tools in many production processes.In this scenario,continuous technological advancements offer new opportunities for further innovating robotics and other areas of next-generation industry.For example,6G could play a prominent role due to its human-centric view of the industrial domains.In particular,its expected dependability features will pave the way for new applications exploiting highly effective Digital Twin(DT)-and eXtended Reality(XR)-based telepresence.In this work,a novel application for the above technologies allowing two distant users to collaborate in the programming of a CR is proposed.The approach encompasses demanding data flows(e.g.,point cloud-based streaming of collaborating users and robotic environment),with network latency and bandwidth constraints.Results obtained by analyzing this approach from the viewpoint of network requirements in a setup designed to emulate 6G connectivity indicate that the expected performance of forthcoming mobile networks will make it fully feasible in principle.

关 键 词：6G Digital twin TELEPRESENCE Collaborative robots Industry 4.0 Augmented reality Virtual reality Point cloud streaming 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]