Design and Implementation of a Digital Twin to Control the Industrial Robot Mitsubishi RV-12SD

2021 ◽  
pp. 422-432
Author(s):  
Minh Duc Vu ◽  
The Nguyen Nguyen ◽  
Chu Anh My
Keyword(s):  
Industrial Robot ◽  
Digital Twin ◽  
Design And Implementation

scholarly journals Design and Implementation of a Digital Twin Platform for AM processes

Procedia CIRP ◽  
2021 ◽  
Vol 104 ◽  
pp. 1722-1727
Author(s):  
Panagiotis Stavropoulos ◽  
Alexios Papacharalampoloulos ◽  
Konstantinos Tzimanis
Keyword(s):  
Digital Twin ◽  
Design And Implementation ◽  
Am Processes

Digital Twin: Concept of Hybrid Programming for Industrial Robots — Use Case

2019 ◽  
Author(s):  
Vladimir Kuts ◽  
Martinš Sarkans ◽  
Tauno Otto ◽  
Toivo Tähemaa ◽  
Yevhen Bondarenko
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Programming Method ◽  
Shop Floor ◽  
Cell Design ◽  
Robotic Cell ◽  
Digital Twin ◽  
Advantages And Disadvantages ◽  
University Of Technology ◽  
Programming Process

Abstract Modern Industrial Robot (IR) programming process is mainly performed by using three different methods — manual, offline, and online programming. Each of these methods has various advantages and disadvantages. Prominent automotive industries often use a combination of them, as there is no way to avoid one or another form of programming on one factory. However, the use of a combination of different programming methods is time-consuming and demands the operator’s presence on site for reconfiguration of the IR. The primary goal of this study is to introduce and test the concept of a hybrid IR programming method, which combines both: offline and online robotic cell design, programming, and re-configuration methods. Testing of this method is based on fully synchronized robotic cell’s Digital Twin (DT), developed in Industrial Virtual and Augmented Laboratory of Tallinn University of Technology. Usage of the virtual replica allows to plan and program robotic cell on the means of telepresence and interfere with the predefined path of the robot by online programming method. Moreover, this approach reduces the time for robotic cell design and re-programming, enables to minimize downtime of the robotic cell on the factory shop floor. Included Virtual Reality (VR) environment allows simulating a full-scale operator presence on site. Thus, the proposed approach supports an immersive and safe environment for the IR and similar equipment programming purposes.

scholarly journals Digital Twin: industrial robot kinematic model integration to the virtual reality environment

2020 ◽  
Vol 20 (2) ◽  
pp. 53-64
Author(s):  
Vladimir KUTS ◽  
Natalia CHEREZOVA ◽  
Martins SARKANS ◽  
Tauno OTTO
Keyword(s):  
Virtual Reality ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Model Integration ◽  
Virtual Reality Environment ◽  
Digital Twin

Digital Twin-Based Fractional Order Controller Optimization for Industrial Robot

2021 ◽  
Author(s):  
Xuan Liu ◽  
Pengchong Chen ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Industrial Robot ◽  
Tracking Error ◽  
Particle Swarm ◽  
Optimization Procedure ◽  
Particle Swarm Algorithm ◽  
Integer Order ◽  
Digital Twin ◽  
Swarm Algorithm ◽  
Fractional Order Controller

Abstract In this paper, a practical and systematic tuning procedure for fractional order controller using particle swarm algorithm (PSO) based on digital twin (DT) system of industrial robot has been developed. The procedure includes a virtual realization of control system based on digital twin concept. Then a particle swarm algorithm is introduced to optimize the five parameters of the cascade fractional order PI-PIλ controller. The optimization procedure using particle swarm algorithm based on digital twin concept is also presented. Finally, the virtual industrial robot model in digital twin is simulated to verify the applicability of the optimization method. The effectiveness of using the cascaded fractional order PI-PIλ controller compared to the cascaded integer order PI-PI controller is illustrated by the simulation results, where the cascaded fractional order PI-PIλ controller responses faster with smaller tracking error over the integer order one.

scholarly journals Applying a 6 DoF Robotic Arm and Digital Twin to Automate Fan-Blade Reconditioning for Aerospace Maintenance, Repair, and Overhaul

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4637
Author(s):  
John Oyekan ◽  
Michael Farnsworth ◽  
Windo Hutabarat ◽  
David Miller ◽  
Ashutosh Tiwari
Keyword(s):  
Computer Vision ◽  
Material Removal ◽  
Closed Loop ◽  
Vision System ◽  
Industrial Robot ◽  
Computer Vision System ◽  
Digital Twin ◽  
Fan Blade ◽  
The Uk ◽  
Do So

The UK is home to several major air commercial and transport hubs. As a result, there is a high demand for Maintenance, Repair, and Overhaul (MRO) services to ensure that fleets of aircraft are in airworthy conditions. MRO services currently involve heavy manual labor. This creates bottlenecks, low repeatability, and low productivity. Presented in this paper is an investigation to create an automation cell for the fan-blade reconditioning component of MRO. The design and prototype of the automation cell is presented. Furthermore, a digital twin of the grinding process is developed and used as a tool to explore the required grinding force parameters needed to effectively remove surface material. An integration of a 6-DoF industrial robot with an end-effector grinder and a computer vision system was undertaken. The computer vision system was used for the digitization of the fan-blade surface as well as tracking and guidance of material removal. Our findings reveal that our proposed system can perform material removal, track the state of the fan blade during the reconditioning process and do so within a closed-loop automated robotic work cell.

scholarly journals Design and Implementation for 3-DoF SCARA Robot based PLC

2017 ◽  
Vol 13 (2) ◽  
Author(s):  
Iman Salih Karem ◽  
Talal A. Jabbar A.Wahabt ◽  
Mawadah Jlaa Yahyh
Keyword(s):  
Design Process ◽  
High Efficiency ◽  
Controller Design ◽  
Industrial Robot ◽  
Implementation Process ◽  
Programmable Logic Controller ◽  
Programmable Logic ◽  
Robot Arm ◽  
Design And Implementation ◽  
Selection Of

Abstract  This paper presents mechanical and electrical design, and implementation  process of industrial robot, 3-DoF type SCARA (selective compliment assembly robot arm),with two rotations and one translation used for welding applications.The design process also included the controller design which was based on PLC(programmable logic controller) as well as selection of mechanical and electrical components.The challenge was to use the available components in Iraq with reasonable costs. The robot mentioned is fully automated using programmable logic controller PLC(Zelio type SR3-B261BD),with 16inputs and 10 outputs. The PLC was implemented in FBD logic to obtain three different automatic motions with high efficiency withouterror,where the two links can stop in a certain points and link 3 bushed down for doing the task in a desired trajectory motion by programming the PLCcontroller. Keywords: DoF, FBD, PLC, SCARArobot.

scholarly journals Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

2021 ◽  
Vol 13 (18) ◽  
pp. 10336
Author(s):  
Gaurav Garg ◽  
Vladimir Kuts ◽  
Gholamreza Anbarjafari
Keyword(s):  
Virtual Reality ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Physical Models ◽  
Robot Programming ◽  
Digital Twin ◽  
Robot Controller ◽  
Twin Model ◽  
Robot Trajectory

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

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