Research And Application Of Virtual And Real Interaction Technology For Industrial Robots Based On ROS

As a key technology of intelligent manufacturing,digital twinning is an effective method to realize real-time interaction and integration between the physical world and the information world.Digital twinning workshop can be built hierarchically based on the physical entities of equipment layer,production line layer and workshop layer.As an important part of the physical equipment layer of the workshop,how to quickly and effectively build the digital twin virtual entity model of the industrial robot,and how to simulate the processing operation and monitor the virtual and real synchronous operation in the simulation environment is of great research value.This paper puts forward a kind of industrial robot based on ROS environment digital twin virtual entity model frame,analyzes the functions of industrial robot in the actual production environment,the equipment abstract as with single function atomic model of coupling simulation model of completed equipment simulation model construction and communication interface definition,implements the nakedness industrial robot drive system fleetly.In this paper,the URDF model of industrial robot is constructed according to the kinematic relation chain,and the function plug-in of ROS system is used to realize the configuration of the robot’s kinematics attribute parameters,trajectory planning and control functions in joint space and Cartesian spaceThen,the virtual device model was created in the simulation environment,the robot trajectory instruction interpreter and the state following function module for controlling the robot movement were developed,and the data interaction between the industrial robot digital twin virtual real system was realized by using the Rosbridge communication protocol.Finally,by designing the operation interface and trigger logic of the simulation controller and combining the above key technologies of virtual and real interaction to develop the controller functions,the virtual and real interaction system platform of industrial robots is built,and the virtual control and synchronous operation of robot equipment are realized.Function is verified based on a example,the results show that,this paper proposed the framework of the construction of the digital twin virtual entity model,able to support a virtual environment and the robot simulation operation of the synchronous operation condition,effectively solve the industrial robot digital twin virtual entity modeling process is complex,long development cycle.