基于数字孪生的工业机器人建模及监测方法OACSTPCD

In view of the issues such as opaque data and monitoring blind spots in industrial ro-bots,study was conducted on physical industrial robots,leading to the development of a digital twin robot monitoring system.Firstly,modeling of virtual robots was accomplished from three dimensions:geometric,physical,and logical.Secondly,based on the open platform communica-tions united architecture(OPC UA),data collection and communication for robots were imple-mented.User display interfaces were designed to achieve real-time visualization of data.Finally,through robot simulation experiments,the relative position errors of the robot end effector in the X,Y,and Z coordinates were determined to be 0.48％,0.32％,and 0.27％,respectively.The maximum error in joint angles of the robot,verified through synchronized experiments using a digital twin robot monitoring system,was found to be 0.31°.The experimental results demon-strate that the method can achieve motion data monitoring for digital twin industrial robots,re-ducing the risk of accidents and failures in the production process.It provides insights and direc-tions for the development of intelligent industrial robots.