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Development of Digital Twin For Robotic Arm
Development of Digital Twin For Robotic Arm
Abstract— Nowadays digital twin technology is a powerful the speed of setting up the control system, and low
tool for describing, controlling, and displaying the behavior of requirements for the used computing resources.
a real object of robotic systems. This technology is currently
planned for widespread application in the Industry 4.0. And Modern technologies apply Digital Twin (DT) approach
one of the important tasks in this area is the creation of a in modern manufactures. The history of such transformation
dynamic model of the object in the simulation program. The is presented in [11]. Such systems require designing
article describes the basic principles of digital twins' design of communication protocols presented in [12]. These protocols
the manipulator, taking into account its dynamic and mass- are mostly standardized and include VPN services. Papers
dimensional characteristics. It was shown that the use of [13 - 16] are presented as the main part of the realization DT
polynomial algorithms in the control system provides the best approach in the robotics arms area - the connection between
solution for the quality of technological operations and virtual space and real kinematic of the object. In [13] authors
provides standard tolerance grades and limit deviations within presented Graphical User Interface in MATLAB to create the
IT7. connection between real robotic arm and visualization. The
same approach is presented in [14] for aerial manipulation by
Keywords—digital twin, robot control, motion control, robot unmanned aerial vehicle and in [15] for the 4-DoF robotic
kinematics, polynomials arm. The same approach could be effectively scaled up for
I. INTRODUCTION robotic manufactured shown in the article [16]. It is equally
important to correctly consider the kinematics of the object
Industrial robots are rapidly consolidating their for a more accurate description of the DT concept. In this
deployment at production manufactory around the world paper, the kinematics of a standardized robot arm is
[1, 2]. It is related to the considerable advantages of considered which could be used in DT implementation such
automatic production lines over traditional methods of systems. Also, a control system for this object has been
organizing production in establishing composite multi-skilled designed.
parts, as well as with greater possibilities for fast
readjustment of assembly lines due to changing II. DYNAMIC MODEL OF ROBOTIC ARM
requirements, moreover a wide range of tasks which could be
There are two most common methods to describe a
performed each robot [3]. Robotic arms are used not only in
dynamic model of a moving object: Euler-Lagrange and
surgery but also in medicine as a whole system. In
research [4] presented the robotic arm for skin scanning. The Newton-Euler. The Euler-Lagrange method is good at
paper explains how to create a closed-loop force control describing the mechanisms with well-known geometry
system for the scanning arm. dynamics. This method is poorly suited for the generalized
description dynamics of bodies with arbitrary geometry and
The main part of such a system is control algorithms. kinematic limitations. The Newton-Euler method is devoid
In [5] researchers published software architecture for the of this disadvantage since it operates with fundamental
dual-arm robot which includes the control module and also dynamics laws. Also, such a method can easily be
simulation and planning module in MATLAB software. To implemented in computing systems since with this approach
improve the positioning and trajectory accuracy, in addition it is not necessary to change the mathematical apparatus for
to the errors caused by elastic links, it is necessary to take
a small change in body connections. Moreover, solutions
into account the computational errors that appear as a result
using the Newton-Euler method require fewer mathematical
of solving the direct and inverse tasks of kinematics. Some
solutions make it possible to determine the inertial operations [17].
parameters of manipulators with more accuracy, which leads Newton-Euler method is based on such equations (1):
to a decrease in dynamic errors [6]. However, such methods
require a comprehensive analysis of real objects and do not k &
exclude errors caused by changes in geometry during f i = dtd ( mvc ) = mvc
operation. One of the ways to compensate for errors that i =1
k & (1)
occur during turns and bends is the use of neural network τ = d I ω = I ωω× I ω
control [7] or fuzzy logic [8]. This method requires time- i dt ( )
i =1
consuming tuning due to the need to obtain training
samplings, which are possible only with repeated here f i - total force acting on the element; τi - total torque
experiments. Also, such methods require high-performance acting about the element; I - moment of inertia about the
computing resources, which is not always justified in real-
center of mass in based coordinate system; ω - angular
time. There are also control methods, that are based on error
compensation which can be determined from multiple velocity of the body; m - mass of the body.
sensors [9]. Also, such control methods take into accounts Angular and linear velocities vectors in the base
the vector field of errors, obtained for the working area of the coordinate system expression are used in the equations. But
manipulator [10]. The advantages of algorithms in the these velocities are not represented in terms of generalized
polynomial form include the simplicity of implementation,
a) b)
Fig. 5. a) coordinate system rotation; b) system rotation angles.
here A1 = − cos ( β ) sin ( α ) ; B1 = cos ( β ) cos ( α ) ; C1 = 0; for axis O2 and O3 - 1 Nm (rad / s) ; for another axis -
The manipulator links transfer functions the rotation of Polynomials defining the distribution of poles are
which is carried out around the axis are shown in (14): n
m
bi s m −i represented as pi s n−i , where p – polynomic coefficient.
i =0
W (s) = i =0
n
,m ≤ n (14)
For axes we have such matrixes:
ai s n −i
i =0
V. SIMULATION RESULTS
This part describes the robotic arm framework and
algorithm for welding applications. The intended trajectory
a) b)
Fig.11. Input angles for position control loops
Fig.12. a) Coordinate systems respect to each other; b) DE position in the
coordinate system.