机械科学与技术2025，Vol.44Issue(4)：666-675,10.DOI:10.13433/j.cnki.1003-8728.20230140
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
摘要
Abstract
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Key words
digital twin/virtual-actual combination/3D simulation/robot分类
计算机与自动化引用本文复制引用
刘春,宫健丽..数字孪生驱动的机器人实时双向联动方法研究[J].机械科学与技术,2025,44(4):666-675,10.基金项目
国家自然科学基金项目(62902116) （62902116）
