Digital twin-driven mechanical arm modeling, control and monitoring integrated system
A technology of integrated systems and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the absence of a digital twin integrated system framework, achieve expected trajectory tracking control, and realize system uncertainty and external disturbances Effect
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[0078] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be pointed out that the following embodiments are intended to facilitate the understanding of the present invention and do not have any limiting effect on it.
[0079] The overall structural block diagram of the integrated system for modeling, control and monitoring of the robotic arm driven by the digital twin of the present invention is as follows: figure 1 Shown, including:
[0080] The digital twin simulation model building module based on the model conversion plug-in, builds the CAD assembly model of the mechanical arm according to the physical entity of the mechanical arm, and builds the integrated simulation model of the digital twin of the mechanical arm through the model conversion plug-in to realize the 3D visual simulation and operation of the digital twin of the mechanical arm Simulate, and leave the functional interface for vir...
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