Study On Digital Twin System Of Rectangular Coordinate Robot With External Vision Monitor

In the current development of digital twins,the existing technology cannot fully realize the mapping of the digital terminal to the physical terminal,and there are problems such as the insufficient response of the digital terminal to the real situation of the physical terminal,and the lack of an independent monitoring method to monitor the physical entity.In response to the above problems,the paper proposes a digital twin model combined with external visual monitoring,establishes a digital model based on hardware-in-the-loop simulation technology,and builds a Cartesian robot digital twin system.The paper mainly completes the following tasks:(1)A Cartesian robot digital twin system model combined with external vision is designed,and the key technologies involved in building a digital twin system are analyzed,including controllers and motion control algorithms,digital terminal models,and external visual monitoring.(2)Completed the overall design of the Cartesian robot motion controller.The core board and the motor drive board are designed in detail,and the control of single-axis S-curve acceleration and deceleration and trapezoidal curve acceleration and deceleration,circular interpolation and linear interpolation for the plane,and three-axis control for space are realized.point control.(3)The composition of the semi-physical simulation system is analyzed,and a model architecture of the digital side of the twin system based on hardware-in-the-loop simulation is proposed.The RPC(Remote Procedure Call)communication protocol is designed,the Cartesian coordinate robot kinematics model is established,and the quintic polynomial is used to plan the trajectory of the robot.(4)The correlation filtering algorithm is adopted to realize the tracking of the key position of the robot.The overall process of external visual monitoring is designed,the HOG features of the image are extracted as filter input,the visual tracking program is written,and tested.(5)Completed the software design of the Cartesian robot digital twin prototype system.The communication module,equipment monitoring module and external visual monitoring module are designed and implemented in detail.Through the study on the above content,the digital model based on hardware-in-the-loop simulation and the Cartesian coordinate robot digital twin prototype system software with independent monitoring mode are designed and realized,which will provide a reference for the follow-up digital twin study.