数字孪生驱动的机器人实时双向联动方法研究  

A Real⁃time Bidirectional Linkage Method of Robot Driven Using Digital Twin

作　　者：刘春[1] 宫健丽 LIU Chun;GONG Jianli(School of Computing Science,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学计算机学院,武汉430068

出　　处：《机械科学与技术》2025年第4期666-675,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(62902116)。

摘　　要：针对非结构化生产车间环境复杂、车间机器人作业不透明、协同作业定位准确率低的问题,提出数字孪生驱动的机器人实时双向联动方法,通过孪生机器人与物理机器人的实时交互以提高机器人协同作业定位效率。另外,参考数字孪生五维模型,构建了一种数字孪生驱动的三维四区双向联动架构,并在此架构上,详细阐述了孪生车间的快速构建、车间多源异构信息的采集与约束处理。为验证本文提出的方法的可行性,设计并开发了基于Ant-E300机器人的实时双向联动系统,验证了方法的有效性,为进一步实现数字孪生生产车间实时监控、机器人透明化作业提供了参考。Aiming at the complexity for environment of the unstructured workshop,the opaque operation of workshop robots and the low positioning accuracy of cooperative operation,an approach,DTRL⁃Rob,a real⁃time bidirectional linkage on robot driven with the digital twin is proposed.Using the real⁃time interaction between the twin robot and the physical robot,it improves the efficiency of the robot′s cooperative operation and localization.In addition,referring to the five⁃dimensional model for digital twin,a three⁃dimensional four⁃zone bidirectional linkage architecture driven by using the digital twin is constructed.Based on the present architecture,the rapid construction of the twin workshop,the collection of multi⁃source heterogeneous information of the workshop and the constraint processing are described in detail.In order to verify the feasibility of the present method,a real⁃time bidirectional linkage system via Ant⁃E300 robot is designed and developed,which verifies the effectiveness of the method and provides a reference for further realizing the real⁃time monitoring and robot transparency in the digital twin workshop.

关 键 词：数字孪生 虚实联动 三维仿真 机器人 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]