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A digital twin–driven monitoring framework for dual-robot collaborative manipulation

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Abstract

With the development of intelligent factories, collaborative robotic arms are becoming the critical equipment for flexible production lines, and digital twin is the best way to realize intelligent and digitized collaborative robotic arm. This paper designs and develops a collaborative robotic arm monitoring system based on digital twin and proposes a six-dimensional system architecture. Key technologies such as equipment twin modeling for the assembly process, multi-source heterogeneous data acquisition, and digital twin–driven real-time monitoring are studied. The system is driven by twin models and real-time data, and based on the key physical characteristics of the collaborative robotic arm. The model and data are effectively integrated to realize real-time monitoring of the assembly process and provide support for intelligent decision-making. The effectiveness and feasibility of the system are verified by running the application on the UR5 and UR10 collaborative robotic arm assembly test benches.

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Authors and Affiliations

  1. China Institute of FTZ Supply Chain, Shanghai Maritime University, Shanghai, 201306, China

    Jianguo Duan, Qinglei Zhang & Jiyun Qin

  2. Logistics Engineering College, Shanghai Maritime University, Shanghai, 201306, China

    Xiangrong Gong

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  1. Jianguo Duan
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Correspondence to Jianguo Duan.

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Duan, J., Gong, X., Zhang, Q. et al. A digital twin–driven monitoring framework for dual-robot collaborative manipulation. Int J Adv Manuf Technol 125, 4579–4599 (2023). https://doi.org/10.1007/s00170-023-11064-2

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  • DOI: https://doi.org/10.1007/s00170-023-11064-2

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