现代制造工程Issue(6)：21-31,11.DOI:10.16731/j.cnki.1671-3133.2026.06.003
基于混合现实与数字孪生的工业机器人虚拟示教系统设计
Design of an industrial robot virtual teaching system based on mixed reality and digital twin
摘要
Abstract
To enhance the intuitiveness and deployment efficiency of industrial robotic spatial teaching,an path guidance and traj-ectory control system combining Mixed Reality(MR)and Digital Twin(DT)technologies was designed and implemented.The system employed HoloLens 2 as a spatial interaction terminal and constructed a industrial robot twin model in the Unity platform,integrating fingertip path input,trajectory smoothing filter,inverse kinematics solver,and real-time Socket-based communication.A closed-loop control workflow was established to support"input-feedback-adjustment"cycles.Experiments on spatial teaching and trajectory execution of a UR10 collaborative robot in a three-way pipe welding scenario show that,along typi-cal paths,the system achieves an end-effector position error below 1.5 mm and an orientation error within 0.71°.These results confirm its effectiveness in enhancing trajectory stability and spatial intuitiveness,while enabling rapid deployment and precise operation of robots in complex structural environments with strong engineering applicability and extensibility.关键词
混合现实/数字孪生/机器人路径示教/轨迹滤波/空间交互Key words
mixed reality/digital twin/robotic path teaching/trajectory filtering/spatial interaction分类
信息技术与安全科学引用本文复制引用
李东宣,孙文磊,李品文,刘爱田,陈俊,毕士海..基于混合现实与数字孪生的工业机器人虚拟示教系统设计[J].现代制造工程,2026,(6):21-31,11.基金项目
新疆维吾尔自治区重点研发项目(2018B02012) （2018B02012）
乌昌石国家自主创新示范区科技发展计划项目(2022LQ03007) （2022LQ03007）
