Industrial collaborative robot Digital Twin integration and control using Robot Operating System

• Autorzy: Diachenko Danyil , Partyshev Andriy , Pizzagalli Simone Luca , Bondarenko Yevhen , Otto Tauno , Kuts Vladimir

Identyfikatory

DOI

10.36897/jme/148110

• Języki publikacji: EN

Abstrakty

EN

Standardized and universal solutions for industrial robot integration are increasingly urgent requirements for companies looking for machine interconnectivity, and flexibility in creating tailor made manufacturing systems. These solutions must be supported by modular and open-source components able to easily integrate new control methods and advanced Extended Reality (XR) interfaces. Robot Operating System (ROS) has proven to be a reliable standard for industrial robot integration. ROS compatibility software is provided by many producers and allows for the implementation of modular control units by unifying development practices along the same libraries and methods. Digital Twins (DT) of industrial equipment and processes offer a solid base to develop innovative digital tools relying on synchronization between physical and digital entities and to easily setup intuitive XR interfaces for teleoperation and programming. This work presents the integration of the OMRON TM5-9000 collaborative industrial robot into the IVAR laboratory DT system at Tallinn University of Technology. By using Unity3D game engine and developing a ROS package for the specific machine, the digital model of the collaborative robot is integrated into the existing twin. Synchronization with the real counterpart is provided by MQTT protocol while a robot user interface is developed in Unity and provides robot joints visualization and remote control.

Słowa kluczowe

EN

digital twin; virtual reality; robot operating system; collaborative robot

• Wydawca: Wydawnictwo Wrocławskiej Rady FSNT NOT
• Czasopismo: Journal of Machine Engineering
• Rocznik: 2022
• Tom: Vol. 22, No. 2
• Strony: 57--67
• Opis fizyczny: Bibliogr. 23 poz., rys., tab.

Twórcy

autor

Diachenko Danyil

• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

autor

Partyshev Andriy

• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

autor

Pizzagalli Simone Luca

• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

• https://orcid.org/0000-0001-9692-2058

autor

Bondarenko Yevhen

• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

autor

Otto Tauno

• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

autor

Kuts Vladimir

• Electronic & Computer Engineering department, University of Limerick, Ireland
• Department of Electronics and Computer Engineering., Technological University of the Shannon: Midlands Midwest, Ireland
• Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Estonia

Bibliografia

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