Modeling and motion simulation of four axis manipulator based on digital twin

Abstract

In the research of digital twins, there is less research on virtual twin model reverse control of physical real equipment, and most of the research is one-way simulation and other problems. A digital twin based mechanical arm modeling and simulation is proposed, including the physical device of the mechanical arm. It carries out three-dimensional modeling of the mechanical arm, builds forward and inverse kinematics models, builds virtual entities of the mechanical arm, and builds virtual and real communication channels, The functions of information transfer and mutual control from entity to virtual and from virtual to entity are realized. The real-time and effectiveness of the digital twin simulation system is proved by experiments.